function [Y]=Yqdqdqrddqr(q,dq,dqr,ddqr) %#codegen



q1 = q(1); q2 = q(2); q3 = q(3); q4 = q(4); q5 = q(5); q6 = q(6); if(length(dq)>6) q7=q(7); q8=q(8);end
dq1 = dq(1); dq2 = dq(2); dq3 = dq(3); dq4 = dq(4); dq5 = dq(5); dq6 = dq(6); if(length(dq)>6)dq7=dq(7); dq8=dq(8);end
dq1r = dqr(1); dq2r = dqr(2); dq3r = dqr(3); dq4r = dqr(4); dq5r = dqr(5); dq6r = dqr(6); if(length(dq)>6)dq7r=dqr(7); dq8r=dqr(8);end
ddq1r = ddqr(1); ddq2r = ddqr(2); ddq3r = ddqr(3); ddq4r = ddqr(4); ddq5r =ddqr(5); ddq6r = ddqr(6); if(length(dq)>6)ddq7r=ddqr(7); ddq8r=ddqr(8);end






s1 = sin(q1); c1 = cos(q1);
s2 = sin(q2); c2 = cos(q2);
s3 = sin(q3); c3 = cos(q3);
s4 = sin(q4); c4 = cos(q4);
s5 = sin(q5); c5 = cos(q5);
s6 = sin(q6); c6 = cos(q6);


if(length(dq)>6)
Y = zeros(8,56);
else
  Y = zeros(6,52);
end
Y(1,1) =- (3*ddq1r*s2)/10 - (3*dq1*dq2r*c2)/20 - (3*dq2*dq1r*c2)/20;
Y(1,2) =ddq1r*sin(2*q2) + dq1*dq2r*cos(2*q2) + dq2*dq1r*cos(2*q2);
Y(1,3) =dq2*dq2r*s2 - ddq2r*c2;
Y(1,4) =ddq2r*sin(q2 + q3) + ddq3r*sin(q2 + q3) + dq2r*(dq2*cos(q2 + q3) + dq3*cos(q2 + q3)) + dq3r*(dq2*cos(q2 + q3) + dq3*cos(q2 + q3));
Y(1,5) =ddq2r*cos(q2 + q3) - dq3r*(dq2*sin(q2 + q3) + dq3*sin(q2 + q3)) - dq2r*(dq2*sin(q2 + q3) + dq3*sin(q2 + q3)) + ddq3r*cos(q2 + q3);
Y(1,6) =0;
Y(1,7) =s2*(c3*s4*((981*c2*c3)/100 - (981*s2*s3)/100) + s3*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) - dq2r*(dq2*((59*c2*s4)/100 - (13*s2*s3*s4)/100 + (13*c2*c3*s4)/100) - dq3*((13*s2*s3*s4)/100 - (13*c2*c3*s4)/100) + dq1*((3*sin(q2 + q3 + q4))/40 + (13*sin(2*q2 + 2*q3 - q4))/200 + (3*sin(q2 + q3 - q4))/40 + (59*sin(2*q2 + q3 + q4))/200 + (59*sin(2*q2 + q3 - q4))/200 + (13*sin(2*q2 + 2*q3 + q4))/200)) - ddq3r*((13*c2*s3*s4)/100 + (13*c3*s2*s4)/100) + dq4r*(dq4*((3*s4)/20 + (59*c2*s4)/100 - (13*s2*s3*s4)/100 + (13*c2*c3*s4)/100) + dq1*((3*s2*s3*s4)/20 - (59*c2^2*c3*s4)/100 - (3*c2*c3*s4)/20 - (13*cos(q2 + q3)*c2*c3*s4)/100 + (13*cos(q2 + q3)*s2*s3*s4)/100 + (59*c2*s2*s3*s4)/100)) - ddq4r*((3*c4)/20 + (59*c2*c4)/100 + (13*c2*c3*c4)/100 - (13*c4*s2*s3)/100) - ddq2r*((59*s2*s4)/100 + (13*c2*s3*s4)/100 + (13*c3*s2*s4)/100) - dq1r*(dq3*((59*c2^2*c4*s3)/100 - (13*c2*c4*s2)/50 + (3*c2*c4*s3)/20 + (3*c3*c4*s2)/20 - (13*c3*c4*s3)/50 + (13*c2*c3^2*c4*s2)/25 + (13*c2^2*c3*c4*s3)/25 + (59*c2*c3*c4*s2)/100) - dq4*((3*s2*s3*s4)/20 - (59*c2^2*c3*s4)/100 - (3*c2*c3*s4)/20 - (13*cos(q2 + q3)*c2*c3*s4)/100 + (13*cos(q2 + q3)*s2*s3*s4)/100 + (59*c2*s2*s3*s4)/100) + dq2*((3*sin(q2 + q3 + q4))/40 + (13*sin(2*q2 + 2*q3 - q4))/200 + (3*sin(q2 + q3 - q4))/40 + (59*sin(2*q2 + q3 + q4))/200 + (59*sin(2*q2 + q3 - q4))/200 + (13*sin(2*q2 + 2*q3 + q4))/200)) + dq3r*(dq2*((13*s2*s3*s4)/100 - (13*c2*c3*s4)/100) + dq3*((13*s2*s3*s4)/100 - (13*c2*c3*s4)/100) - dq1*((59*c2^2*c4*s3)/100 - (13*c2*c4*s2)/50 + (3*c2*c4*s3)/20 + (3*c3*c4*s2)/20 - (13*c3*c4*s3)/50 + (13*c2*c3^2*c4*s2)/25 + (13*c2^2*c3*c4*s3)/25 + (59*c2*c3*c4*s2)/100)) + ddq1r*((3*cos(q2 + q3)*c4)/20 + (59*c2^2*c3*c4)/100 + (59*cos(q2 + q3)*c2*c4)/100 + (3*c2*c3*c4)/20 - (3*c4*s2*s3)/20 + (13*cos(q2 + q3)*c2*c3*c4)/50 - (13*cos(q2 + q3)*c4*s2*s3)/50 - (59*c2*c4*s2*s3)/100) - c2*(c3*s4*((981*c2*s3)/100 + (981*c3*s2)/100) - s3*s4*((981*c2*c3)/100 - (981*s2*s3)/100));
Y(1,8) =dq4r*(dq4*(c2*s3*s4 + c3*s2*s4) - dq1*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2)) - ddq2r*(s2*s3*s4 - c2*c3*s4) - ddq3r*(s2*s3*s4 - c2*c3*s4) - dq1r*(dq3*(2*c2^2*c4 - c4 + 2*c3^2*c4 - 4*c2^2*c3^2*c4 + 4*c2*c3*c4*s2*s3) + dq4*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2) - dq2*(cos(2*q2 + 2*q3 - q4)/2 + cos(2*q2 + 2*q3 + q4)/2)) - dq2r*(dq2*(c2*s3*s4 + c3*s2*s4) + dq3*(c2*s3*s4 + c3*s2*s4) - dq1*(cos(2*q2 + 2*q3 - q4)/2 + cos(2*q2 + 2*q3 + q4)/2)) + ddq1r*(cos(q2 + q3)*c2*c4*s3 + cos(q2 + q3)*c3*c4*s2 + sin(q2 + q3)*c2*c3*c4 - sin(q2 + q3)*c4*s2*s3) - dq3r*(dq2*(c2*s3*s4 + c3*s2*s4) + dq3*(c2*s3*s4 + c3*s2*s4) + dq1*(2*c2^2*c4 - c4 + 2*c3^2*c4 - 4*c2^2*c3^2*c4 + 4*c2*c3*c4*s2*s3)) - ddq4r*(c2*c4*s3 + c3*c4*s2);
Y(1,9) =dq2r*(dq1*(cos(2*q2 + 2*q3 - 2*q4)/4 - cos(2*q2 + 2*q3 + 2*q4)/4) + dq4*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4) + dq2*(c2*c3 - s2*s3 - 2*c2*c3*c4^2 + 2*c4^2*s2*s3) + dq3*(c2*c3 - s2*s3 - 2*c2*c3*c4^2 + 2*c4^2*s2*s3)) + ddq1r*(2*sin(q2 + q3)*c2*c4*s3*s4 + 2*sin(q2 + q3)*c3*c4*s2*s4) + dq4r*(dq2*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4) - dq1*(sin(q2 + q3)*c2*s3 + sin(q2 + q3)*c3*s2 - 2*sin(q2 + q3)*c2*c4^2*s3 - 2*sin(q2 + q3)*c3*c4^2*s2) + dq3*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4)) + dq3r*(dq4*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4) - dq1*(2*c2*c4*s2*s4 + 2*c3*c4*s3*s4 - 4*c2*c3^2*c4*s2*s4 - 4*c2^2*c3*c4*s3*s4) + dq2*(c2*c3 - s2*s3 - 2*c2*c3*c4^2 + 2*c4^2*s2*s3) + dq3*(c2*c3 - s2*s3 - 2*c2*c3*c4^2 + 2*c4^2*s2*s3)) + ddq2r*(c2*s3 + c3*s2 - 2*c2*c4^2*s3 - 2*c3*c4^2*s2) + ddq3r*(c2*s3 + c3*s2 - 2*c2*c4^2*s3 - 2*c3*c4^2*s2) - dq1r*(dq4*(sin(q2 + q3)*c2*s3 + sin(q2 + q3)*c3*s2 - 2*sin(q2 + q3)*c2*c4^2*s3 - 2*sin(q2 + q3)*c3*c4^2*s2) - dq2*(cos(2*q2 + 2*q3 - 2*q4)/4 - cos(2*q2 + 2*q3 + 2*q4)/4) + dq3*(2*c2*c4*s2*s4 + 2*c3*c4*s3*s4 - 4*c2*c3^2*c4*s2*s4 - 4*c2^2*c3*c4*s3*s4));
Y(1,10) =0;
Y(1,11) =dq4r*(dq1*((3*c5*s2*s3*s4)/20 - (59*cos(q2 + q3)*c2*c5*s4)/200 - (3*c2*c3*c5*s4)/20 - (59*c2^2*c3*c5*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*s4)/100 + (64707*cos(q2 + q3)*c2*c5*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*s4)/200000 + (13*cos(q2 + q3)*c5*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*s2*s3*s4)/200000 + (59*c2*c5*s2*s3*s4)/200) + dq4*((3*c5*s4)/20 + (59*c2*c5*s4)/100 + (13*c2*c3*c5*s4)/100 - (64707*c2*c5*s3*s4)/100000 - (64707*c3*c5*s2*s4)/100000 - (13*c5*s2*s3*s4)/100) + dq5*((3*c4*s5)/20 + (59*c2*c4*s5)/100 + (13*c2*c3*c4*s5)/100 - (64707*c2*c4*s3*s5)/100000 - (64707*c3*c4*s2*s5)/100000 - (13*c4*s2*s3*s5)/100)) - ddq4r*((3*c4*c5)/20 + (59*c2*c4*c5)/100 + (13*c2*c3*c4*c5)/100 - (64707*c2*c4*c5*s3)/100000 - (64707*c3*c4*c5*s2)/100000 - (13*c4*c5*s2*s3)/100) - ddq1r*((3*sin(q2 + q3)*s5)/20 + (59*c2^2*s3*s5)/100 - (3*cos(q2 + q3)*c4*c5)/20 + (59*sin(q2 + q3)*c2*s5)/100 + (3*c2*s3*s5)/20 + (3*c3*s2*s5)/20 - (59*c2^2*c3*c4*c5)/100 - (59*cos(q2 + q3)*c2*c4*c5)/100 + (13*cos(q2 + q3)*c2*s3*s5)/100 + (13*cos(q2 + q3)*c3*s2*s5)/100 + (13*sin(q2 + q3)*c2*c3*s5)/100 - (3*c2*c3*c4*c5)/20 - (64707*sin(q2 + q3)*c2*s3*s5)/50000 - (64707*sin(q2 + q3)*c3*s2*s5)/50000 - (13*sin(q2 + q3)*s2*s3*s5)/100 + (59*c2*c3*s2*s5)/100 + (3*c4*c5*s2*s3)/20 - (13*cos(q2 + q3)*c2*c3*c4*c5)/50 + (64707*cos(q2 + q3)*c2*c4*c5*s3)/100000 + (64707*cos(q2 + q3)*c3*c4*c5*s2)/100000 + (64707*sin(q2 + q3)*c2*c3*c4*c5)/100000 + (13*cos(q2 + q3)*c4*c5*s2*s3)/50 - (64707*sin(q2 + q3)*c4*c5*s2*s3)/100000 + (59*c2*c4*c5*s2*s3)/100) - dq1r*(dq3*((13*s5)/100 + (64707*c4*c5)/100000 - (13*c2^2*s5)/50 - (13*c3^2*s5)/50 - (3*s2*s3*s5)/20 - (64707*c2^2*c4*c5)/50000 - (64707*c3^2*c4*c5)/50000 + (59*c2^2*c3*s5)/100 + (13*c2^2*c3^2*s5)/25 + (3*c2*c3*s5)/20 + (64707*c2*s2*s5)/50000 + (64707*c3*s3*s5)/50000 + (59*c2^2*c4*c5*s3)/100 - (64707*c2*c3^2*s2*s5)/25000 - (64707*c2^2*c3*s3*s5)/25000 + (64707*c2^2*c3^2*c4*c5)/25000 - (13*c2*c4*c5*s2)/50 + (3*c2*c4*c5*s3)/20 + (3*c3*c4*c5*s2)/20 - (13*c3*c4*c5*s3)/50 - (59*c2*s2*s3*s5)/100 + (59*c2*c3*c4*c5*s2)/100 - (13*c2*c3*s2*s3*s5)/25 + (13*c2*c3^2*c4*c5*s2)/25 + (13*c2^2*c3*c4*c5*s3)/25 - (64707*c2*c3*c4*c5*s2*s3)/25000) - dq4*((3*c5*s2*s3*s4)/20 - (59*cos(q2 + q3)*c2*c5*s4)/200 - (3*c2*c3*c5*s4)/20 - (59*c2^2*c3*c5*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*s4)/100 + (64707*cos(q2 + q3)*c2*c5*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*s4)/200000 + (13*cos(q2 + q3)*c5*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*s2*s3*s4)/200000 + (59*c2*c5*s2*s3*s4)/200) + dq5*((59*c2^2*c5*s3)/100 + (3*c2*c5*s3)/20 + (3*c3*c5*s2)/20 + (59*c2^2*c3*c4*s5)/200 + (13*cos(q2 + q3)*c2*c5*s3)/200 + (13*cos(q2 + q3)*c3*c5*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5)/200 + (59*cos(q2 + q3)*c2*c4*s5)/200 - (64707*sin(q2 + q3)*c2*c5*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*s2)/100000 - (13*sin(q2 + q3)*c5*s2*s3)/200 + (59*c2*c3*c5*s2)/100 + (3*c2*c3*c4*s5)/20 - (3*c4*s2*s3*s5)/20 + (13*cos(q2 + q3)*c2*c3*c4*s5)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5)/200000 - (59*c2*c4*s2*s3*s5)/200) + dq2*((64707*cos(2*q2 + 2*q3 - q4 - q5))/400000 + (13*sin(2*q2 + 2*q3 - q4 - q5))/400 + (3*sin(q2 + q3 + q5))/40 - (64707*cos(2*q2 + 2*q3 - q5))/200000 - (13*sin(2*q2 + 2*q3 - q5))/200 + (64707*cos(2*q2 + 2*q3 + q4 + q5))/400000 + (3*sin(q2 + q3 - q4 - q5))/80 + (59*sin(2*q2 + q3 + q4 - q5))/400 + (59*sin(2*q2 + q3 - q4 + q5))/400 + (13*sin(2*q2 + 2*q3 + q4 + q5))/400 - (3*sin(q2 + q3 - q5))/40 + (59*sin(2*q2 + q3 + q5))/200 + (3*sin(q2 + q3 + q4 + q5))/80 + (64707*cos(2*q2 + 2*q3 + q4 - q5))/400000 + (64707*cos(2*q2 + 2*q3 - q4 + q5))/400000 + (59*sin(2*q2 + q3 - q4 - q5))/400 + (13*sin(2*q2 + 2*q3 + q4 - q5))/400 + (13*sin(2*q2 + 2*q3 - q4 + q5))/400 + (64707*cos(2*q2 + 2*q3 + q5))/200000 - (59*sin(2*q2 + q3 - q5))/200 + (13*sin(2*q2 + 2*q3 + q5))/200 + (3*sin(q2 + q3 + q4 - q5))/80 + (3*sin(q2 + q3 - q4 + q5))/80 + (59*sin(2*q2 + q3 + q4 + q5))/400)) + dq3r*(dq2*((64707*c2*c5*s3*s4)/100000 - (13*c2*c3*c5*s4)/100 + (64707*c3*c5*s2*s4)/100000 + (13*c5*s2*s3*s4)/100) - dq1*((13*s5)/100 + (64707*c4*c5)/100000 - (13*c2^2*s5)/50 - (13*c3^2*s5)/50 - (3*s2*s3*s5)/20 - (64707*c2^2*c4*c5)/50000 - (64707*c3^2*c4*c5)/50000 + (59*c2^2*c3*s5)/100 + (13*c2^2*c3^2*s5)/25 + (3*c2*c3*s5)/20 + (64707*c2*s2*s5)/50000 + (64707*c3*s3*s5)/50000 + (59*c2^2*c4*c5*s3)/100 - (64707*c2*c3^2*s2*s5)/25000 - (64707*c2^2*c3*s3*s5)/25000 + (64707*c2^2*c3^2*c4*c5)/25000 - (13*c2*c4*c5*s2)/50 + (3*c2*c4*c5*s3)/20 + (3*c3*c4*c5*s2)/20 - (13*c3*c4*c5*s3)/50 - (59*c2*s2*s3*s5)/100 + (59*c2*c3*c4*c5*s2)/100 - (13*c2*c3*s2*s3*s5)/25 + (13*c2*c3^2*c4*c5*s2)/25 + (13*c2^2*c3*c4*c5*s3)/25 - (64707*c2*c3*c4*c5*s2*s3)/25000) + dq3*((64707*c2*c5*s3*s4)/100000 - (13*c2*c3*c5*s4)/100 + (64707*c3*c5*s2*s4)/100000 + (13*c5*s2*s3*s4)/100)) + c2*(s3*(s4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c4*s4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) - c3*c5*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + s2*(c3*(s4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c4*s4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s3*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) - ddq2r*((59*c5*s2*s4)/100 + (64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000) - ddq3r*((64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000) + dq5r*(dq4*((3*c4*s5)/20 + (59*c2*c4*s5)/100 + (13*c2*c3*c4*s5)/100 - (64707*c2*c4*s3*s5)/100000 - (64707*c3*c4*s2*s5)/100000 - (13*c4*s2*s3*s5)/100) + dq5*((3*c5*s4)/20 + (59*c2*c5*s4)/100 + (13*c2*c3*c5*s4)/100 - (64707*c2*c5*s3*s4)/100000 - (64707*c3*c5*s2*s4)/100000 - (13*c5*s2*s3*s4)/100) - dq1*((59*c2^2*c5*s3)/100 + (3*c2*c5*s3)/20 + (3*c3*c5*s2)/20 + (59*c2^2*c3*c4*s5)/200 + (13*cos(q2 + q3)*c2*c5*s3)/200 + (13*cos(q2 + q3)*c3*c5*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5)/200 + (59*cos(q2 + q3)*c2*c4*s5)/200 - (64707*sin(q2 + q3)*c2*c5*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*s2)/100000 - (13*sin(q2 + q3)*c5*s2*s3)/200 + (59*c2*c3*c5*s2)/100 + (3*c2*c3*c4*s5)/20 - (3*c4*s2*s3*s5)/20 + (13*cos(q2 + q3)*c2*c3*c4*s5)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5)/200000 - (59*c2*c4*s2*s3*s5)/200)) + ddq5r*((3*s4*s5)/20 + (59*c2*s4*s5)/100 + (13*c2*c3*s4*s5)/100 - (64707*c2*s3*s4*s5)/100000 - (64707*c3*s2*s4*s5)/100000 - (13*s2*s3*s4*s5)/100) + dq2r*(dq2*((64707*c2*c5*s3*s4)/100000 - (13*c2*c3*c5*s4)/100 - (59*c2*c5*s4)/100 + (64707*c3*c5*s2*s4)/100000 + (13*c5*s2*s3*s4)/100) + dq3*((64707*c2*c5*s3*s4)/100000 - (13*c2*c3*c5*s4)/100 + (64707*c3*c5*s2*s4)/100000 + (13*c5*s2*s3*s4)/100) - dq1*((64707*cos(2*q2 + 2*q3 - q4 - q5))/400000 + (13*sin(2*q2 + 2*q3 - q4 - q5))/400 + (3*sin(q2 + q3 + q5))/40 - (64707*cos(2*q2 + 2*q3 - q5))/200000 - (13*sin(2*q2 + 2*q3 - q5))/200 + (64707*cos(2*q2 + 2*q3 + q4 + q5))/400000 + (3*sin(q2 + q3 - q4 - q5))/80 + (59*sin(2*q2 + q3 + q4 - q5))/400 + (59*sin(2*q2 + q3 - q4 + q5))/400 + (13*sin(2*q2 + 2*q3 + q4 + q5))/400 - (3*sin(q2 + q3 - q5))/40 + (59*sin(2*q2 + q3 + q5))/200 + (3*sin(q2 + q3 + q4 + q5))/80 + (64707*cos(2*q2 + 2*q3 + q4 - q5))/400000 + (64707*cos(2*q2 + 2*q3 - q4 + q5))/400000 + (59*sin(2*q2 + q3 - q4 - q5))/400 + (13*sin(2*q2 + 2*q3 + q4 - q5))/400 + (13*sin(2*q2 + 2*q3 - q4 + q5))/400 + (64707*cos(2*q2 + 2*q3 + q5))/200000 - (59*sin(2*q2 + q3 - q5))/200 + (13*sin(2*q2 + 2*q3 + q5))/200 + (3*sin(q2 + q3 + q4 - q5))/80 + (3*sin(q2 + q3 - q4 + q5))/80 + (59*sin(2*q2 + q3 + q4 + q5))/400));
Y(1,12) =dq1r*(dq2*(cos(2*q2 + 2*q3 - q4 - q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + q4 + q5)/4 - cos(2*q2 + 2*q3 + q4 - q5)/4 - cos(2*q2 + 2*q3 - q4 + q5)/4 - cos(2*q2 + 2*q3 - 2*q4 + q5)/8 + cos(2*q2 + 2*q3 + 2*q4 + q5)/8) - dq4*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2) + dq3*(2*c2^2*s4*s5 - s4*s5 + 2*c3^2*s4*s5 - 4*c2^2*c3^2*s4*s5 + 2*c2*c4*c5*s2*s4 + 2*c3*c4*c5*s3*s4 + 4*c2*c3*s2*s3*s4*s5 - 4*c2*c3^2*c4*c5*s2*s4 - 4*c2^2*c3*c4*c5*s3*s4) - dq5*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5)) - ddq1r*(cos(q2 + q3)*c2*s3*s4*s5 + cos(q2 + q3)*c3*s2*s4*s5 + sin(q2 + q3)*c2*c3*s4*s5 - sin(q2 + q3)*s2*s3*s4*s5 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4) - dq2r*(dq5*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3) - dq1*(cos(2*q2 + 2*q3 - q4 - q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + q4 + q5)/4 - cos(2*q2 + 2*q3 + q4 - q5)/4 - cos(2*q2 + 2*q3 - q4 + q5)/4 - cos(2*q2 + 2*q3 - 2*q4 + q5)/8 + cos(2*q2 + 2*q3 + 2*q4 + q5)/8) + dq4*(2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) + dq2*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 + 2*c4^2*c5*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5) + dq3*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 + 2*c4^2*c5*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5)) - dq3r*(dq5*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3) - dq1*(2*c2^2*s4*s5 - s4*s5 + 2*c3^2*s4*s5 - 4*c2^2*c3^2*s4*s5 + 2*c2*c4*c5*s2*s4 + 2*c3*c4*c5*s3*s4 + 4*c2*c3*s2*s3*s4*s5 - 4*c2*c3^2*c4*c5*s2*s4 - 4*c2^2*c3*c4*c5*s3*s4) + dq4*(2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) + dq2*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 + 2*c4^2*c5*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5) + dq3*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 + 2*c4^2*c5*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5)) + ddq5r*(c2*c3*s5 - s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2) - dq5r*(dq2*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3) + dq3*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3) + dq5*(c5*s2*s3 - c2*c3*c5 + c2*c4*s3*s5 + c3*c4*s2*s5) + dq1*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5)) - dq4r*(dq1*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2) + dq2*(2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) + dq3*(2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) - dq4*(c2*c4*s3*s5 + c3*c4*s2*s5)) - ddq2r*(c2*c5*s3 + c3*c5*s2 - 2*c2*c4^2*c5*s3 - 2*c3*c4^2*c5*s2 - c2*c3*c4*s5 + c4*s2*s3*s5) - ddq3r*(c2*c5*s3 + c3*c5*s2 - 2*c2*c4^2*c5*s3 - 2*c3*c4^2*c5*s2 - c2*c3*c4*s5 + c4*s2*s3*s5) + ddq4r*(c2*s3*s4*s5 + c3*s2*s4*s5);
Y(1,13) =dq5r*(dq4*(c2*c3 - s2*s3 - 2*c2*c3*c5^2 + 2*c5^2*s2*s3 + 2*c2*c4*c5*s3*s5 + 2*c3*c4*c5*s2*s5) - dq1*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*c4^2*s3 - sin(q2 + q3)*c3*c4^2*s2 + 2*cos(q2 + q3)*c5^2*s2*s3 - 2*cos(q2 + q3)*c2*c3*c5^2 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5) + dq2*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) + dq3*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5)) - ddq1r*(cos(q2 + q3)*c2*c4*s3 + cos(q2 + q3)*c3*c4*s2 + sin(q2 + q3)*c2*c3*c4 - sin(q2 + q3)*c4*s2*s3 - 2*cos(q2 + q3)*c2*c3*c5*s5 + 2*cos(q2 + q3)*c5*s2*s3*s5 - 2*cos(q2 + q3)*c2*c4*c5^2*s3 - 2*cos(q2 + q3)*c3*c4*c5^2*s2 - 2*sin(q2 + q3)*c2*c3*c4*c5^2 + 2*sin(q2 + q3)*c4*c5^2*s2*s3 + 2*sin(q2 + q3)*c2*c4^2*c5*s3*s5 + 2*sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq4r*(dq5*(c2*c3 - s2*s3 - 2*c2*c3*c5^2 + 2*c5^2*s2*s3 + 2*c2*c4*c5*s3*s5 + 2*c3*c4*c5*s2*s5) - dq4*(c2*s3*s4 + c3*s2*s4 - 2*c2*c5^2*s3*s4 - 2*c3*c5^2*s2*s4) + dq1*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2 - cos(q2 + q3)*c2*c5^2*s3*s4 - cos(q2 + q3)*c3*c5^2*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*s4 + sin(q2 + q3)*c5^2*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5) + dq2*(2*c2*c5*s3*s5 + 2*c3*c5*s2*s5 - 2*c2*c4^2*c5*s3*s5 - 2*c3*c4^2*c5*s2*s5) + dq3*(2*c2*c5*s3*s5 + 2*c3*c5*s2*s5 - 2*c2*c4^2*c5*s3*s5 - 2*c3*c4^2*c5*s2*s5)) - dq1r*(dq5*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*c4^2*s3 - sin(q2 + q3)*c3*c4^2*s2 + 2*cos(q2 + q3)*c5^2*s2*s3 - 2*cos(q2 + q3)*c2*c3*c5^2 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5) + dq3*(c4 - 2*c2^2*c4 - 2*c3^2*c4 - 2*c4*c5^2 + 4*c2^2*c3^2*c4 + 4*c2^2*c4*c5^2 + 4*c3^2*c4*c5^2 - 8*c2^2*c3^2*c4*c5^2 - 2*c2*c5*s2*s5 - 2*c3*c5*s3*s5 + 4*c2*c3^2*c5*s2*s5 - 2*c2*c4^2*c5*s2*s5 + 4*c2^2*c3*c5*s3*s5 - 2*c3*c4^2*c5*s3*s5 - 4*c2*c3*c4*s2*s3 + 4*c2*c3^2*c4^2*c5*s2*s5 + 4*c2^2*c3*c4^2*c5*s3*s5 + 8*c2*c3*c4*c5^2*s2*s3) - dq2*(cos(2*q2 + 2*q3 - q4 - 2*q5)/4 + cos(2*q2 + 2*q3 - q4 + 2*q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5)/16 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5)/16 - (3*cos(2*q2 + 2*q3 - 2*q5))/8 + (3*cos(2*q2 + 2*q3 + 2*q5))/8 + cos(2*q2 + 2*q3 + q4 - 2*q5)/4 + cos(2*q2 + 2*q3 + q4 + 2*q5)/4) - dq4*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2 - cos(q2 + q3)*c2*c5^2*s3*s4 - cos(q2 + q3)*c3*c5^2*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*s4 + sin(q2 + q3)*c5^2*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5)) - ddq2r*(c2*c3*s4 - s2*s3*s4 - 2*c2*c3*c5^2*s4 + 2*c5^2*s2*s3*s4 + 2*c2*c4*c5*s3*s4*s5 + 2*c3*c4*c5*s2*s4*s5) - ddq3r*(c2*c3*s4 - s2*s3*s4 - 2*c2*c3*c5^2*s4 + 2*c5^2*s2*s3*s4 + 2*c2*c4*c5*s3*s4*s5 + 2*c3*c4*c5*s2*s4*s5) + dq3r*(dq5*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) - dq1*(c4 - 2*c2^2*c4 - 2*c3^2*c4 - 2*c4*c5^2 + 4*c2^2*c3^2*c4 + 4*c2^2*c4*c5^2 + 4*c3^2*c4*c5^2 - 8*c2^2*c3^2*c4*c5^2 - 2*c2*c5*s2*s5 - 2*c3*c5*s3*s5 + 4*c2*c3^2*c5*s2*s5 - 2*c2*c4^2*c5*s2*s5 + 4*c2^2*c3*c5*s3*s5 - 2*c3*c4^2*c5*s3*s5 - 4*c2*c3*c4*s2*s3 + 4*c2*c3^2*c4^2*c5*s2*s5 + 4*c2^2*c3*c4^2*c5*s3*s5 + 8*c2*c3*c4*c5^2*s2*s3) + dq2*(c2*s3*s4 + c3*s2*s4 - 2*c2*c5^2*s3*s4 - 2*c3*c5^2*s2*s4 - 2*c2*c3*c4*c5*s4*s5 + 2*c4*c5*s2*s3*s4*s5) + dq3*(c2*s3*s4 + c3*s2*s4 - 2*c2*c5^2*s3*s4 - 2*c3*c5^2*s2*s4 - 2*c2*c3*c4*c5*s4*s5 + 2*c4*c5*s2*s3*s4*s5) + dq4*(2*c2*c5*s3*s5 + 2*c3*c5*s2*s5 - 2*c2*c4^2*c5*s3*s5 - 2*c3*c4^2*c5*s2*s5)) + ddq4r*(c2*c4*s3 + c3*c4*s2 - 2*c2*c4*c5^2*s3 - 2*c3*c4*c5^2*s2 - 2*c2*c3*c5*s5 + 2*c5*s2*s3*s5) + dq2r*(dq5*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) + dq2*(c2*s3*s4 + c3*s2*s4 - 2*c2*c5^2*s3*s4 - 2*c3*c5^2*s2*s4 - 2*c2*c3*c4*c5*s4*s5 + 2*c4*c5*s2*s3*s4*s5) + dq3*(c2*s3*s4 + c3*s2*s4 - 2*c2*c5^2*s3*s4 - 2*c3*c5^2*s2*s4 - 2*c2*c3*c4*c5*s4*s5 + 2*c4*c5*s2*s3*s4*s5) + dq1*(cos(2*q2 + 2*q3 - q4 - 2*q5)/4 + cos(2*q2 + 2*q3 - q4 + 2*q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5)/16 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5)/16 - (3*cos(2*q2 + 2*q3 - 2*q5))/8 + (3*cos(2*q2 + 2*q3 + 2*q5))/8 + cos(2*q2 + 2*q3 + q4 - 2*q5)/4 + cos(2*q2 + 2*q3 + q4 + 2*q5)/4) + dq4*(2*c2*c5*s3*s5 + 2*c3*c5*s2*s5 - 2*c2*c4^2*c5*s3*s5 - 2*c3*c4^2*c5*s2*s5));
Y(1,14) =ddq2r*(c2*s3*s5 + c3*s2*s5 - 2*c2*c4^2*s3*s5 - 2*c3*c4^2*s2*s5 + c2*c3*c4*c5 - c4*c5*s2*s3) + ddq3r*(c2*s3*s5 + c3*s2*s5 - 2*c2*c4^2*s3*s5 - 2*c3*c4^2*s2*s5 + c2*c3*c4*c5 - c4*c5*s2*s3) - dq2r*(dq2*(s2*s3*s5 - c2*c3*s5 + 2*c2*c3*c4^2*s5 - 2*c4^2*s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2) + dq3*(s2*s3*s5 - c2*c3*s5 + 2*c2*c3*c4^2*s5 - 2*c4^2*s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2) + dq5*(c2*c4^2*c5*s3 + c3*c4^2*c5*s2 + c2*c3*c4*s5 - c4*s2*s3*s5) - dq1*(sin(2*q2 + 2*q3 - q4 - q5)/4 - sin(2*q2 + 2*q3 - 2*q4 - q5)/8 + sin(2*q2 + 2*q3 + 2*q4 - q5)/8 - sin(2*q2 + 2*q3 + q4 + q5)/4 - sin(2*q2 + 2*q3 + q4 - q5)/4 + sin(2*q2 + 2*q3 - q4 + q5)/4 + sin(2*q2 + 2*q3 - 2*q4 + q5)/8 - sin(2*q2 + 2*q3 + 2*q4 + q5)/8) - dq4*(2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5)) - ddq5r*(c5*s2*s3 - c2*c3*c5 + c2*c4*s3*s5 + c3*c4*s2*s5) + ddq4r*(c2*c5*s3*s4 + c3*c5*s2*s4) - dq3r*(dq2*(s2*s3*s5 - c2*c3*s5 + 2*c2*c3*c4^2*s5 - 2*c4^2*s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2) + dq3*(s2*s3*s5 - c2*c3*s5 + 2*c2*c3*c4^2*s5 - 2*c4^2*s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2) + dq5*(c2*c4^2*c5*s3 + c3*c4^2*c5*s2 + c2*c3*c4*s5 - c4*s2*s3*s5) - dq1*(2*c2^2*c5*s4 - c5*s4 + 2*c3^2*c5*s4 - 4*c2^2*c3^2*c5*s4 - 2*c2*c4*s2*s4*s5 - 2*c3*c4*s3*s4*s5 + 4*c2*c3*c5*s2*s3*s4 + 4*c2*c3^2*c4*s2*s4*s5 + 4*c2^2*c3*c4*s3*s4*s5) - dq4*(2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5)) + dq1r*(dq5*((cos(q2 + q3)*c2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*s4*s5)/2 - (sin(q2 + q3)*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*s3*s4 + sin(q2 + q3)*c3*c4*c5*s2*s4) - dq4*(sin(q2 + q3)*c2*s3*s5 + sin(q2 + q3)*c3*s2*s5 + (cos(q2 + q3)*c2*c4*c5*s3)/2 + (cos(q2 + q3)*c3*c4*c5*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5)/2 - (sin(q2 + q3)*c4*c5*s2*s3)/2 - 2*sin(q2 + q3)*c2*c4^2*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*s2*s5) + dq3*(2*c2^2*c5*s4 - c5*s4 + 2*c3^2*c5*s4 - 4*c2^2*c3^2*c5*s4 - 2*c2*c4*s2*s4*s5 - 2*c3*c4*s3*s4*s5 + 4*c2*c3*c5*s2*s3*s4 + 4*c2*c3^2*c4*s2*s4*s5 + 4*c2^2*c3*c4*s3*s4*s5) + dq2*(sin(2*q2 + 2*q3 - q4 - q5)/4 - sin(2*q2 + 2*q3 - 2*q4 - q5)/8 + sin(2*q2 + 2*q3 + 2*q4 - q5)/8 - sin(2*q2 + 2*q3 + q4 + q5)/4 - sin(2*q2 + 2*q3 + q4 - q5)/4 + sin(2*q2 + 2*q3 - q4 + q5)/4 + sin(2*q2 + 2*q3 - 2*q4 + q5)/8 - sin(2*q2 + 2*q3 + 2*q4 + q5)/8)) - dq5r*(dq2*(c2*c4^2*c5*s3 + c3*c4^2*c5*s2 + c2*c3*c4*s5 - c4*s2*s3*s5) + dq3*(c2*c4^2*c5*s3 + c3*c4^2*c5*s2 + c2*c3*c4*s5 - c4*s2*s3*s5) - dq1*((cos(q2 + q3)*c2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*s4*s5)/2 - (sin(q2 + q3)*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*s3*s4 + sin(q2 + q3)*c3*c4*c5*s2*s4) + dq5*(c2*c3*s5 - s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2)) + dq4r*(dq2*(2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) - dq1*(sin(q2 + q3)*c2*s3*s5 + sin(q2 + q3)*c3*s2*s5 + (cos(q2 + q3)*c2*c4*c5*s3)/2 + (cos(q2 + q3)*c3*c4*c5*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5)/2 - (sin(q2 + q3)*c4*c5*s2*s3)/2 - 2*sin(q2 + q3)*c2*c4^2*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*s2*s5) + dq3*(2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) + dq4*(c2*c4*c5*s3 + c3*c4*c5*s2)) - ddq1r*(cos(q2 + q3)*c2*c5*s3*s4 + cos(q2 + q3)*c3*c5*s2*s4 + sin(q2 + q3)*c2*c3*c5*s4 - sin(q2 + q3)*c5*s2*s3*s4 - 2*sin(q2 + q3)*c2*c4*s3*s4*s5 - 2*sin(q2 + q3)*c3*c4*s2*s4*s5);
Y(1,15) =0;
Y(1,16) =dq6r*(dq1*((3*sin(q2 + q3)*s5*s6)/40 - (59*c2^2*c3*c6*s4)/200 + (59*c2^2*s3*s5*s6)/200 - (59*cos(q2 + q3)*c2*c6*s4)/200 - (3*cos(q2 + q3)*c4*c5*s6)/40 + (59*sin(q2 + q3)*c2*s5*s6)/200 - (3*c2*c3*c6*s4)/20 + (3*c6*s2*s3*s4)/20 + (3*c2*s3*s5*s6)/40 + (3*c3*s2*s5*s6)/40 - (13*cos(q2 + q3)*c2*c3*c6*s4)/100 - (59*cos(q2 + q3)*c2*c4*c5*s6)/200 + (64707*cos(q2 + q3)*c2*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c6*s4)/200000 + (13*cos(q2 + q3)*c6*s2*s3*s4)/100 + (13*cos(q2 + q3)*c2*s3*s5*s6)/200 + (13*cos(q2 + q3)*c3*s2*s5*s6)/200 + (13*sin(q2 + q3)*c2*c3*s5*s6)/200 - (3*c2*c3*c4*c5*s6)/40 - (64707*sin(q2 + q3)*c6*s2*s3*s4)/200000 - (64707*sin(q2 + q3)*c2*s3*s5*s6)/100000 - (64707*sin(q2 + q3)*c3*s2*s5*s6)/100000 - (13*sin(q2 + q3)*s2*s3*s5*s6)/200 + (59*c2*c6*s2*s3*s4)/200 + (59*c2*c3*s2*s5*s6)/200 + (3*c4*c5*s2*s3*s6)/40 - (59*c2^2*c3*c4*c5*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*s6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*s6)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3*s6)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3*s6)/200000 + (59*c2*c4*c5*s2*s3*s6)/200) - dq5*((3*s4*s5*s6)/20 + (59*c2*s4*s5*s6)/100 + (13*c2*c3*s4*s5*s6)/100 - (64707*c2*s3*s4*s5*s6)/100000 - (64707*c3*s2*s4*s5*s6)/100000 - (13*s2*s3*s4*s5*s6)/100) + dq4*((3*c6*s4)/20 + (59*c2*c6*s4)/100 + (3*c4*c5*s6)/20 + (13*c2*c3*c6*s4)/100 + (59*c2*c4*c5*s6)/100 - (64707*c2*c6*s3*s4)/100000 - (64707*c3*c6*s2*s4)/100000 - (13*c6*s2*s3*s4)/100 + (13*c2*c3*c4*c5*s6)/100 - (64707*c2*c4*c5*s3*s6)/100000 - (64707*c3*c4*c5*s2*s6)/100000 - (13*c4*c5*s2*s3*s6)/100) + dq6*((3*c4*s6)/20 + (59*c2*c4*s6)/100 + (3*c5*c6*s4)/20 + (13*c2*c3*c4*s6)/100 + (59*c2*c5*c6*s4)/100 - (64707*c2*c4*s3*s6)/100000 - (64707*c3*c4*s2*s6)/100000 - (13*c4*s2*s3*s6)/100 + (13*c2*c3*c5*c6*s4)/100 - (64707*c2*c5*c6*s3*s4)/100000 - (64707*c3*c5*c6*s2*s4)/100000 - (13*c5*c6*s2*s3*s4)/100)) - dq5r*(dq6*((3*s4*s5*s6)/20 + (59*c2*s4*s5*s6)/100 + (13*c2*c3*s4*s5*s6)/100 - (64707*c2*s3*s4*s5*s6)/100000 - (64707*c3*s2*s4*s5*s6)/100000 - (13*s2*s3*s4*s5*s6)/100) - dq4*((3*c4*c6*s5)/20 + (59*c2*c4*c6*s5)/100 + (13*c2*c3*c4*c6*s5)/100 - (64707*c2*c4*c6*s3*s5)/100000 - (64707*c3*c4*c6*s2*s5)/100000 - (13*c4*c6*s2*s3*s5)/100) - dq5*((3*c5*c6*s4)/20 + (59*c2*c5*c6*s4)/100 + (13*c2*c3*c5*c6*s4)/100 - (64707*c2*c5*c6*s3*s4)/100000 - (64707*c3*c5*c6*s2*s4)/100000 - (13*c5*c6*s2*s3*s4)/100) + dq1*((3*sin(q2 + q3)*c5*c6)/40 + (59*c2^2*c5*c6*s3)/200 + (59*sin(q2 + q3)*c2*c5*c6)/200 + (3*cos(q2 + q3)*c4*c6*s5)/40 + (3*c2*c5*c6*s3)/40 + (3*c3*c5*c6*s2)/40 + (13*cos(q2 + q3)*c2*c5*c6*s3)/200 + (13*cos(q2 + q3)*c3*c5*c6*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5*c6)/200 + (59*cos(q2 + q3)*c2*c4*c6*s5)/200 - (64707*sin(q2 + q3)*c2*c5*c6*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*c6*s2)/100000 - (13*sin(q2 + q3)*c5*c6*s2*s3)/200 + (59*c2*c3*c5*c6*s2)/200 + (3*c2*c3*c4*c6*s5)/40 - (3*c4*c6*s2*s3*s5)/40 + (59*c2^2*c3*c4*c6*s5)/200 + (13*cos(q2 + q3)*c2*c3*c4*c6*s5)/100 - (64707*cos(q2 + q3)*c2*c4*c6*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*c6*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*c6*s5)/200000 - (13*cos(q2 + q3)*c4*c6*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*c6*s2*s3*s5)/200000 - (59*c2*c4*c6*s2*s3*s5)/200)) + dq1r*(dq6*((3*sin(q2 + q3)*s5*s6)/40 - (59*c2^2*c3*c6*s4)/200 + (59*c2^2*s3*s5*s6)/200 - (59*cos(q2 + q3)*c2*c6*s4)/200 - (3*cos(q2 + q3)*c4*c5*s6)/40 + (59*sin(q2 + q3)*c2*s5*s6)/200 - (3*c2*c3*c6*s4)/20 + (3*c6*s2*s3*s4)/20 + (3*c2*s3*s5*s6)/40 + (3*c3*s2*s5*s6)/40 - (13*cos(q2 + q3)*c2*c3*c6*s4)/100 - (59*cos(q2 + q3)*c2*c4*c5*s6)/200 + (64707*cos(q2 + q3)*c2*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c6*s4)/200000 + (13*cos(q2 + q3)*c6*s2*s3*s4)/100 + (13*cos(q2 + q3)*c2*s3*s5*s6)/200 + (13*cos(q2 + q3)*c3*s2*s5*s6)/200 + (13*sin(q2 + q3)*c2*c3*s5*s6)/200 - (3*c2*c3*c4*c5*s6)/40 - (64707*sin(q2 + q3)*c6*s2*s3*s4)/200000 - (64707*sin(q2 + q3)*c2*s3*s5*s6)/100000 - (64707*sin(q2 + q3)*c3*s2*s5*s6)/100000 - (13*sin(q2 + q3)*s2*s3*s5*s6)/200 + (59*c2*c6*s2*s3*s4)/200 + (59*c2*c3*s2*s5*s6)/200 + (3*c4*c5*s2*s3*s6)/40 - (59*c2^2*c3*c4*c5*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*s6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*s6)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3*s6)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3*s6)/200000 + (59*c2*c4*c5*s2*s3*s6)/200) - dq2*((64707*cos(2*q2 + 2*q3 - q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 - q6))/400000 + (3*sin(q2 + q3 + q4 + q5 + q6))/160 + (13*sin(2*q2 + 2*q3 - q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 - q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*sin(q2 + q3 - q4 - q5 - q6))/160 + (59*sin(2*q2 + q3 + q4 - q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 + q6))/400000 + (3*sin(q2 + q3 - q4 - q6))/80 - (3*sin(q2 + q3 - q5 - q6))/80 - (59*sin(2*q2 + q3 + q4 - q6))/400 - (59*sin(2*q2 + q3 - q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 - q6))/400 - (59*sin(2*q2 + q3 - q5 + q6))/400 + (13*sin(2*q2 + 2*q3 + q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 + q6))/400 + (3*sin(q2 + q3 + q4 + q5 - q6))/160 + (3*sin(q2 + q3 + q4 - q5 + q6))/160 + (3*sin(q2 + q3 - q4 + q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800000 + (59*sin(2*q2 + q3 - q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800 + (3*sin(q2 + q3 + q4 + q6))/80 + (3*sin(q2 + q3 + q5 + q6))/80 - (64707*cos(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 + q6))/400000 + (59*sin(2*q2 + q3 - q4 - q6))/400 - (59*sin(2*q2 + q3 - q5 - q6))/400 - (13*sin(2*q2 + 2*q3 + q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 + q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (3*sin(q2 + q3 + q4 - q5 - q6))/160 + (3*sin(q2 + q3 - q4 + q5 - q6))/160 + (3*sin(q2 + q3 - q4 - q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 + q4 - q5 + q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800000 + (13*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (3*sin(q2 + q3 + q4 - q6))/80 - (3*sin(q2 + q3 - q4 + q6))/80 + (3*sin(q2 + q3 + q5 - q6))/80 - (3*sin(q2 + q3 - q5 + q6))/80 + (59*sin(2*q2 + q3 + q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 + q6))/400) + dq3*((64707*s4*s6)/100000 - (13*c6*s5)/100 + (13*c2^2*c6*s5)/50 + (13*c3^2*c6*s5)/50 - (64707*c2^2*s4*s6)/50000 - (64707*c3^2*s4*s6)/50000 - (64707*c4*c5*c6)/100000 + (64707*c2^2*c4*c5*c6)/50000 + (64707*c3^2*c4*c5*c6)/50000 - (59*c2^2*c3*c6*s5)/100 + (59*c2^2*s3*s4*s6)/100 - (13*c2^2*c3^2*c6*s5)/25 + (64707*c2^2*c3^2*s4*s6)/25000 - (3*c2*c3*c6*s5)/20 - (64707*c2*c6*s2*s5)/50000 - (64707*c3*c6*s3*s5)/50000 - (13*c2*s2*s4*s6)/50 + (3*c2*s3*s4*s6)/20 + (3*c3*s2*s4*s6)/20 - (13*c3*s3*s4*s6)/50 + (3*c6*s2*s3*s5)/20 + (64707*c2*c3^2*c6*s2*s5)/25000 + (64707*c2^2*c3*c6*s3*s5)/25000 + (13*c2*c3^2*s2*s4*s6)/25 + (13*c2^2*c3*s3*s4*s6)/25 - (64707*c2^2*c3^2*c4*c5*c6)/25000 + (13*c2*c4*c5*c6*s2)/50 - (3*c2*c4*c5*c6*s3)/20 - (3*c3*c4*c5*c6*s2)/20 + (13*c3*c4*c5*c6*s3)/50 + (59*c2*c3*s2*s4*s6)/100 + (59*c2*c6*s2*s3*s5)/100 - (59*c2^2*c4*c5*c6*s3)/100 - (59*c2*c3*c4*c5*c6*s2)/100 + (13*c2*c3*c6*s2*s3*s5)/25 - (64707*c2*c3*s2*s3*s4*s6)/25000 - (13*c2*c3^2*c4*c5*c6*s2)/25 - (13*c2^2*c3*c4*c5*c6*s3)/25 + (64707*c2*c3*c4*c5*c6*s2*s3)/25000) + dq4*((3*c4*s2*s3*s6)/20 - (59*cos(q2 + q3)*c2*c4*s6)/200 - (3*cos(q2 + q3)*c5*c6*s4)/40 - (3*c2*c3*c4*s6)/20 - (59*c2^2*c3*c4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*s6)/100 - (59*cos(q2 + q3)*c2*c5*c6*s4)/200 + (64707*cos(q2 + q3)*c2*c4*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*s6)/200000 + (13*cos(q2 + q3)*c4*s2*s3*s6)/100 - (3*c2*c3*c5*c6*s4)/40 - (64707*sin(q2 + q3)*c4*s2*s3*s6)/200000 + (59*c2*c4*s2*s3*s6)/200 + (3*c5*c6*s2*s3*s4)/40 - (59*c2^2*c3*c5*c6*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*c6*s4)/100 + (64707*cos(q2 + q3)*c2*c5*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*c6*s4)/200000 + (13*cos(q2 + q3)*c5*c6*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*c6*s2*s3*s4)/200000 + (59*c2*c5*c6*s2*s3*s4)/200) - dq5*((3*sin(q2 + q3)*c5*c6)/40 + (59*c2^2*c5*c6*s3)/200 + (59*sin(q2 + q3)*c2*c5*c6)/200 + (3*cos(q2 + q3)*c4*c6*s5)/40 + (3*c2*c5*c6*s3)/40 + (3*c3*c5*c6*s2)/40 + (13*cos(q2 + q3)*c2*c5*c6*s3)/200 + (13*cos(q2 + q3)*c3*c5*c6*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5*c6)/200 + (59*cos(q2 + q3)*c2*c4*c6*s5)/200 - (64707*sin(q2 + q3)*c2*c5*c6*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*c6*s2)/100000 - (13*sin(q2 + q3)*c5*c6*s2*s3)/200 + (59*c2*c3*c5*c6*s2)/200 + (3*c2*c3*c4*c6*s5)/40 - (3*c4*c6*s2*s3*s5)/40 + (59*c2^2*c3*c4*c6*s5)/200 + (13*cos(q2 + q3)*c2*c3*c4*c6*s5)/100 - (64707*cos(q2 + q3)*c2*c4*c6*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*c6*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*c6*s5)/200000 - (13*cos(q2 + q3)*c4*c6*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*c6*s2*s3*s5)/200000 - (59*c2*c4*c6*s2*s3*s5)/200)) + dq2r*(dq2*((64707*c2*c4*s3*s6)/100000 - (13*c2*c3*c4*s6)/100 - (59*c2*c5*c6*s4)/100 - (59*c2*c4*s6)/100 + (64707*c3*c4*s2*s6)/100000 + (13*c4*s2*s3*s6)/100 - (13*c2*c3*c5*c6*s4)/100 + (64707*c2*c5*c6*s3*s4)/100000 + (64707*c3*c5*c6*s2*s4)/100000 + (13*c5*c6*s2*s3*s4)/100) - dq1*((64707*cos(2*q2 + 2*q3 - q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 - q6))/400000 + (3*sin(q2 + q3 + q4 + q5 + q6))/160 + (13*sin(2*q2 + 2*q3 - q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 - q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*sin(q2 + q3 - q4 - q5 - q6))/160 + (59*sin(2*q2 + q3 + q4 - q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 + q6))/400000 + (3*sin(q2 + q3 - q4 - q6))/80 - (3*sin(q2 + q3 - q5 - q6))/80 - (59*sin(2*q2 + q3 + q4 - q6))/400 - (59*sin(2*q2 + q3 - q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 - q6))/400 - (59*sin(2*q2 + q3 - q5 + q6))/400 + (13*sin(2*q2 + 2*q3 + q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 + q6))/400 + (3*sin(q2 + q3 + q4 + q5 - q6))/160 + (3*sin(q2 + q3 + q4 - q5 + q6))/160 + (3*sin(q2 + q3 - q4 + q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800000 + (59*sin(2*q2 + q3 - q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800 + (3*sin(q2 + q3 + q4 + q6))/80 + (3*sin(q2 + q3 + q5 + q6))/80 - (64707*cos(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 + q6))/400000 + (59*sin(2*q2 + q3 - q4 - q6))/400 - (59*sin(2*q2 + q3 - q5 - q6))/400 - (13*sin(2*q2 + 2*q3 + q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 + q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (3*sin(q2 + q3 + q4 - q5 - q6))/160 + (3*sin(q2 + q3 - q4 + q5 - q6))/160 + (3*sin(q2 + q3 - q4 - q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 + q4 - q5 + q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800000 + (13*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (3*sin(q2 + q3 + q4 - q6))/80 - (3*sin(q2 + q3 - q4 + q6))/80 + (3*sin(q2 + q3 + q5 - q6))/80 - (3*sin(q2 + q3 - q5 + q6))/80 + (59*sin(2*q2 + q3 + q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 + q6))/400) + dq3*((64707*c2*c4*s3*s6)/100000 - (13*c2*c3*c4*s6)/100 + (64707*c3*c4*s2*s6)/100000 + (13*c4*s2*s3*s6)/100 - (13*c2*c3*c5*c6*s4)/100 + (64707*c2*c5*c6*s3*s4)/100000 + (64707*c3*c5*c6*s2*s4)/100000 + (13*c5*c6*s2*s3*s4)/100)) - ddq1r*((3*cos(q2 + q3)*s4*s6)/20 + (3*sin(q2 + q3)*c6*s5)/20 + (59*c2^2*c3*s4*s6)/100 + (59*c2^2*c6*s3*s5)/100 - (3*cos(q2 + q3)*c4*c5*c6)/20 + (59*cos(q2 + q3)*c2*s4*s6)/100 + (59*sin(q2 + q3)*c2*c6*s5)/100 + (3*c2*c3*s4*s6)/20 + (3*c2*c6*s3*s5)/20 + (3*c3*c6*s2*s5)/20 - (3*s2*s3*s4*s6)/20 - (59*cos(q2 + q3)*c2*c4*c5*c6)/100 + (13*cos(q2 + q3)*c2*c3*s4*s6)/50 + (13*cos(q2 + q3)*c2*c6*s3*s5)/100 + (13*cos(q2 + q3)*c3*c6*s2*s5)/100 + (13*sin(q2 + q3)*c2*c3*c6*s5)/100 - (3*c2*c3*c4*c5*c6)/20 - (64707*cos(q2 + q3)*c2*s3*s4*s6)/100000 - (64707*cos(q2 + q3)*c3*s2*s4*s6)/100000 - (64707*sin(q2 + q3)*c2*c3*s4*s6)/100000 - (64707*sin(q2 + q3)*c2*c6*s3*s5)/50000 - (64707*sin(q2 + q3)*c3*c6*s2*s5)/50000 - (13*cos(q2 + q3)*s2*s3*s4*s6)/50 - (13*sin(q2 + q3)*c6*s2*s3*s5)/100 + (59*c2*c3*c6*s2*s5)/100 + (3*c4*c5*c6*s2*s3)/20 + (64707*sin(q2 + q3)*s2*s3*s4*s6)/100000 - (59*c2*s2*s3*s4*s6)/100 - (59*c2^2*c3*c4*c5*c6)/100 - (13*cos(q2 + q3)*c2*c3*c4*c5*c6)/50 + (64707*cos(q2 + q3)*c2*c4*c5*c6*s3)/100000 + (64707*cos(q2 + q3)*c3*c4*c5*c6*s2)/100000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*c6)/100000 + (13*cos(q2 + q3)*c4*c5*c6*s2*s3)/50 - (64707*sin(q2 + q3)*c4*c5*c6*s2*s3)/100000 + (59*c2*c4*c5*c6*s2*s3)/100) + dq4r*(dq5*((3*c4*c6*s5)/20 + (59*c2*c4*c6*s5)/100 + (13*c2*c3*c4*c6*s5)/100 - (64707*c2*c4*c6*s3*s5)/100000 - (64707*c3*c4*c6*s2*s5)/100000 - (13*c4*c6*s2*s3*s5)/100) + dq4*((3*c4*s6)/20 + (59*c2*c4*s6)/100 + (3*c5*c6*s4)/20 + (13*c2*c3*c4*s6)/100 + (59*c2*c5*c6*s4)/100 - (64707*c2*c4*s3*s6)/100000 - (64707*c3*c4*s2*s6)/100000 - (13*c4*s2*s3*s6)/100 + (13*c2*c3*c5*c6*s4)/100 - (64707*c2*c5*c6*s3*s4)/100000 - (64707*c3*c5*c6*s2*s4)/100000 - (13*c5*c6*s2*s3*s4)/100) + dq6*((3*c6*s4)/20 + (59*c2*c6*s4)/100 + (3*c4*c5*s6)/20 + (13*c2*c3*c6*s4)/100 + (59*c2*c4*c5*s6)/100 - (64707*c2*c6*s3*s4)/100000 - (64707*c3*c6*s2*s4)/100000 - (13*c6*s2*s3*s4)/100 + (13*c2*c3*c4*c5*s6)/100 - (64707*c2*c4*c5*s3*s6)/100000 - (64707*c3*c4*c5*s2*s6)/100000 - (13*c4*c5*s2*s3*s6)/100) + dq1*((3*c4*s2*s3*s6)/20 - (59*cos(q2 + q3)*c2*c4*s6)/200 - (3*cos(q2 + q3)*c5*c6*s4)/40 - (3*c2*c3*c4*s6)/20 - (59*c2^2*c3*c4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*s6)/100 - (59*cos(q2 + q3)*c2*c5*c6*s4)/200 + (64707*cos(q2 + q3)*c2*c4*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*s6)/200000 + (13*cos(q2 + q3)*c4*s2*s3*s6)/100 - (3*c2*c3*c5*c6*s4)/40 - (64707*sin(q2 + q3)*c4*s2*s3*s6)/200000 + (59*c2*c4*s2*s3*s6)/200 + (3*c5*c6*s2*s3*s4)/40 - (59*c2^2*c3*c5*c6*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*c6*s4)/100 + (64707*cos(q2 + q3)*c2*c5*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*c6*s4)/200000 + (13*cos(q2 + q3)*c5*c6*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*c6*s2*s3*s4)/200000 + (59*c2*c5*c6*s2*s3*s4)/200)) + dq3r*(dq1*((64707*s4*s6)/100000 - (13*c6*s5)/100 + (13*c2^2*c6*s5)/50 + (13*c3^2*c6*s5)/50 - (64707*c2^2*s4*s6)/50000 - (64707*c3^2*s4*s6)/50000 - (64707*c4*c5*c6)/100000 + (64707*c2^2*c4*c5*c6)/50000 + (64707*c3^2*c4*c5*c6)/50000 - (59*c2^2*c3*c6*s5)/100 + (59*c2^2*s3*s4*s6)/100 - (13*c2^2*c3^2*c6*s5)/25 + (64707*c2^2*c3^2*s4*s6)/25000 - (3*c2*c3*c6*s5)/20 - (64707*c2*c6*s2*s5)/50000 - (64707*c3*c6*s3*s5)/50000 - (13*c2*s2*s4*s6)/50 + (3*c2*s3*s4*s6)/20 + (3*c3*s2*s4*s6)/20 - (13*c3*s3*s4*s6)/50 + (3*c6*s2*s3*s5)/20 + (64707*c2*c3^2*c6*s2*s5)/25000 + (64707*c2^2*c3*c6*s3*s5)/25000 + (13*c2*c3^2*s2*s4*s6)/25 + (13*c2^2*c3*s3*s4*s6)/25 - (64707*c2^2*c3^2*c4*c5*c6)/25000 + (13*c2*c4*c5*c6*s2)/50 - (3*c2*c4*c5*c6*s3)/20 - (3*c3*c4*c5*c6*s2)/20 + (13*c3*c4*c5*c6*s3)/50 + (59*c2*c3*s2*s4*s6)/100 + (59*c2*c6*s2*s3*s5)/100 - (59*c2^2*c4*c5*c6*s3)/100 - (59*c2*c3*c4*c5*c6*s2)/100 + (13*c2*c3*c6*s2*s3*s5)/25 - (64707*c2*c3*s2*s3*s4*s6)/25000 - (13*c2*c3^2*c4*c5*c6*s2)/25 - (13*c2^2*c3*c4*c5*c6*s3)/25 + (64707*c2*c3*c4*c5*c6*s2*s3)/25000) + dq2*((64707*c2*c4*s3*s6)/100000 - (13*c2*c3*c4*s6)/100 + (64707*c3*c4*s2*s6)/100000 + (13*c4*s2*s3*s6)/100 - (13*c2*c3*c5*c6*s4)/100 + (64707*c2*c5*c6*s3*s4)/100000 + (64707*c3*c5*c6*s2*s4)/100000 + (13*c5*c6*s2*s3*s4)/100) + dq3*((64707*c2*c4*s3*s6)/100000 - (13*c2*c3*c4*s6)/100 + (64707*c3*c4*s2*s6)/100000 + (13*c4*s2*s3*s6)/100 - (13*c2*c3*c5*c6*s4)/100 + (64707*c2*c5*c6*s3*s4)/100000 + (64707*c3*c5*c6*s2*s4)/100000 + (13*c5*c6*s2*s3*s4)/100)) + ddq4r*((3*s4*s6)/20 - (3*c4*c5*c6)/20 + (59*c2*s4*s6)/100 - (59*c2*c4*c5*c6)/100 + (13*c2*c3*s4*s6)/100 - (64707*c2*s3*s4*s6)/100000 - (64707*c3*s2*s4*s6)/100000 - (13*s2*s3*s4*s6)/100 - (13*c2*c3*c4*c5*c6)/100 + (64707*c2*c4*c5*c6*s3)/100000 + (64707*c3*c4*c5*c6*s2)/100000 + (13*c4*c5*c6*s2*s3)/100) - ddq6r*((3*c4*c6)/20 + (59*c2*c4*c6)/100 - (3*c5*s4*s6)/20 + (13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (59*c2*c5*s4*s6)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100) + c2*(s3*(c4*(s5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + c6*s4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - c3*(c5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) - s5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)))) + ddq5r*((3*c6*s4*s5)/20 + (59*c2*c6*s4*s5)/100 + (13*c2*c3*c6*s4*s5)/100 - (64707*c2*c6*s3*s4*s5)/100000 - (64707*c3*c6*s2*s4*s5)/100000 - (13*c6*s2*s3*s4*s5)/100) - ddq2r*((59*c4*s2*s6)/100 + (64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 + (59*c5*c6*s2*s4)/100 - (64707*c4*s2*s3*s6)/100000 + (64707*c2*c3*c5*c6*s4)/100000 + (13*c2*c5*c6*s3*s4)/100 + (13*c3*c5*c6*s2*s4)/100 - (64707*c5*c6*s2*s3*s4)/100000) + s2*(c3*(c4*(s5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + c6*s4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + s3*(c5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) - s5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)))) - ddq3r*((64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 - (64707*c4*s2*s3*s6)/100000 + (64707*c2*c3*c5*c6*s4)/100000 + (13*c2*c5*c6*s3*s4)/100 + (13*c3*c5*c6*s2*s4)/100 - (64707*c5*c6*s2*s3*s4)/100000);
Y(1,17) =dq4r*(dq4*((3*c4*c6)/20 + (59*c2*c4*c6)/100 - (3*c5*s4*s6)/20 + (13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (59*c2*c5*s4*s6)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100) - dq6*((3*s4*s6)/20 - (3*c4*c5*c6)/20 + (59*c2*s4*s6)/100 - (59*c2*c4*c5*c6)/100 + (13*c2*c3*s4*s6)/100 - (64707*c2*s3*s4*s6)/100000 - (64707*c3*s2*s4*s6)/100000 - (13*s2*s3*s4*s6)/100 - (13*c2*c3*c4*c5*c6)/100 + (64707*c2*c4*c5*c6*s3)/100000 + (64707*c3*c4*c5*c6*s2)/100000 + (13*c4*c5*c6*s2*s3)/100) + dq1*((3*cos(q2 + q3)*c5*s4*s6)/40 - (59*cos(q2 + q3)*c2*c4*c6)/200 - (59*c2^2*c3*c4*c6)/200 - (3*c2*c3*c4*c6)/20 + (3*c4*c6*s2*s3)/20 + (59*c2^2*c3*c5*s4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c6)/200000 + (13*cos(q2 + q3)*c4*c6*s2*s3)/100 + (59*cos(q2 + q3)*c2*c5*s4*s6)/200 - (64707*sin(q2 + q3)*c4*c6*s2*s3)/200000 + (59*c2*c4*c6*s2*s3)/200 + (3*c2*c3*c5*s4*s6)/40 - (3*c5*s2*s3*s4*s6)/40 + (13*cos(q2 + q3)*c2*c3*c5*s4*s6)/100 - (64707*cos(q2 + q3)*c2*c5*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*c5*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c5*s4*s6)/200000 - (13*cos(q2 + q3)*c5*s2*s3*s4*s6)/100 + (64707*sin(q2 + q3)*c5*s2*s3*s4*s6)/200000 - (59*c2*c5*s2*s3*s4*s6)/200) - dq5*((3*c4*s5*s6)/20 + (59*c2*c4*s5*s6)/100 + (13*c2*c3*c4*s5*s6)/100 - (64707*c2*c4*s3*s5*s6)/100000 - (64707*c3*c4*s2*s5*s6)/100000 - (13*c4*s2*s3*s5*s6)/100)) - dq6r*(dq4*((3*s4*s6)/20 - (3*c4*c5*c6)/20 + (59*c2*s4*s6)/100 - (59*c2*c4*c5*c6)/100 + (13*c2*c3*s4*s6)/100 - (64707*c2*s3*s4*s6)/100000 - (64707*c3*s2*s4*s6)/100000 - (13*s2*s3*s4*s6)/100 - (13*c2*c3*c4*c5*c6)/100 + (64707*c2*c4*c5*c6*s3)/100000 + (64707*c3*c4*c5*c6*s2)/100000 + (13*c4*c5*c6*s2*s3)/100) - dq6*((3*c4*c6)/20 + (59*c2*c4*c6)/100 - (3*c5*s4*s6)/20 + (13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (59*c2*c5*s4*s6)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100) - dq1*((59*c2^2*c3*s4*s6)/200 + (59*c2^2*c6*s3*s5)/200 - (3*cos(q2 + q3)*c4*c5*c6)/40 + (59*cos(q2 + q3)*c2*s4*s6)/200 + (59*sin(q2 + q3)*c2*c6*s5)/200 + (3*c2*c3*s4*s6)/20 + (3*c2*c6*s3*s5)/20 + (3*c3*c6*s2*s5)/20 - (3*s2*s3*s4*s6)/20 - (59*cos(q2 + q3)*c2*c4*c5*c6)/200 + (13*cos(q2 + q3)*c2*c3*s4*s6)/100 + (13*cos(q2 + q3)*c2*c6*s3*s5)/200 + (13*cos(q2 + q3)*c3*c6*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*c6*s5)/200 - (3*c2*c3*c4*c5*c6)/40 - (64707*cos(q2 + q3)*c2*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c6*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*c6*s2*s5)/100000 - (13*cos(q2 + q3)*s2*s3*s4*s6)/100 - (13*sin(q2 + q3)*c6*s2*s3*s5)/200 + (59*c2*c3*c6*s2*s5)/200 + (3*c4*c5*c6*s2*s3)/40 + (64707*sin(q2 + q3)*s2*s3*s4*s6)/200000 - (59*c2*s2*s3*s4*s6)/200 - (59*c2^2*c3*c4*c5*c6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*c6)/200000 + (13*cos(q2 + q3)*c4*c5*c6*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*c6*s2*s3)/200000 + (59*c2*c4*c5*c6*s2*s3)/200) + dq5*((3*c6*s4*s5)/20 + (59*c2*c6*s4*s5)/100 + (13*c2*c3*c6*s4*s5)/100 - (64707*c2*c6*s3*s4*s5)/100000 - (64707*c3*c6*s2*s4*s5)/100000 - (13*c6*s2*s3*s4*s5)/100)) + ddq1r*((3*sin(q2 + q3)*s5*s6)/20 - (3*cos(q2 + q3)*c6*s4)/20 - (59*c2^2*c3*c6*s4)/100 + (59*c2^2*s3*s5*s6)/100 - (59*cos(q2 + q3)*c2*c6*s4)/100 - (3*cos(q2 + q3)*c4*c5*s6)/20 + (59*sin(q2 + q3)*c2*s5*s6)/100 - (3*c2*c3*c6*s4)/20 + (3*c6*s2*s3*s4)/20 + (3*c2*s3*s5*s6)/20 + (3*c3*s2*s5*s6)/20 - (13*cos(q2 + q3)*c2*c3*c6*s4)/50 - (59*cos(q2 + q3)*c2*c4*c5*s6)/100 + (64707*cos(q2 + q3)*c2*c6*s3*s4)/100000 + (64707*cos(q2 + q3)*c3*c6*s2*s4)/100000 + (64707*sin(q2 + q3)*c2*c3*c6*s4)/100000 + (13*cos(q2 + q3)*c6*s2*s3*s4)/50 + (13*cos(q2 + q3)*c2*s3*s5*s6)/100 + (13*cos(q2 + q3)*c3*s2*s5*s6)/100 + (13*sin(q2 + q3)*c2*c3*s5*s6)/100 - (3*c2*c3*c4*c5*s6)/20 - (64707*sin(q2 + q3)*c6*s2*s3*s4)/100000 - (64707*sin(q2 + q3)*c2*s3*s5*s6)/50000 - (64707*sin(q2 + q3)*c3*s2*s5*s6)/50000 - (13*sin(q2 + q3)*s2*s3*s5*s6)/100 + (59*c2*c6*s2*s3*s4)/100 + (59*c2*c3*s2*s5*s6)/100 + (3*c4*c5*s2*s3*s6)/20 - (59*c2^2*c3*c4*c5*s6)/100 - (13*cos(q2 + q3)*c2*c3*c4*c5*s6)/50 + (64707*cos(q2 + q3)*c2*c4*c5*s3*s6)/100000 + (64707*cos(q2 + q3)*c3*c4*c5*s2*s6)/100000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*s6)/100000 + (13*cos(q2 + q3)*c4*c5*s2*s3*s6)/50 - (64707*sin(q2 + q3)*c4*c5*s2*s3*s6)/100000 + (59*c2*c4*c5*s2*s3*s6)/100) - ddq5r*((3*s4*s5*s6)/20 + (59*c2*s4*s5*s6)/100 + (13*c2*c3*s4*s5*s6)/100 - (64707*c2*s3*s4*s5*s6)/100000 - (64707*c3*s2*s4*s5*s6)/100000 - (13*s2*s3*s4*s5*s6)/100) - dq2r*(dq2*((59*c2*c4*c6)/100 + (13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (59*c2*c5*s4*s6)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100) - dq1*((13*cos(2*q2 + 2*q3 - q4 - q6))/400 - (13*cos(2*q2 + 2*q3 - q5 - q6))/400 - (64707*sin(2*q2 + 2*q3 - q4 - q6))/400000 + (64707*sin(2*q2 + 2*q3 - q5 - q6))/400000 + (3*cos(q2 + q3 - q4 - q5 - q6))/160 + (59*cos(2*q2 + q3 + q4 - q5 - q6))/800 + (59*cos(2*q2 + q3 - q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 - q4 - q5 + q6))/800 + (13*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800 - (13*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*cos(q2 + q3 - q4 - q6))/80 - (3*cos(q2 + q3 - q5 - q6))/80 - (59*cos(2*q2 + q3 + q4 - q6))/400 + (59*cos(2*q2 + q3 - q4 + q6))/400 + (59*cos(2*q2 + q3 + q5 - q6))/400 + (59*cos(2*q2 + q3 - q5 + q6))/400 - (13*cos(2*q2 + 2*q3 + q4 + q6))/400 - (13*cos(2*q2 + 2*q3 + q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*sin(2*q2 + 2*q3 + q5 + q6))/400000 + (3*cos(q2 + q3 + q4 + q5 - q6))/160 - (3*cos(q2 + q3 + q4 - q5 + q6))/160 - (3*cos(q2 + q3 - q4 + q5 + q6))/160 - (59*cos(2*q2 + q3 + q4 + q5 + q6))/800 + (59*cos(2*q2 + q3 - q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800000 - (64707*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800000 - (3*cos(q2 + q3 + q4 + q6))/80 - (3*cos(q2 + q3 + q5 + q6))/80 + (59*cos(2*q2 + q3 - q4 - q6))/400 - (59*cos(2*q2 + q3 - q5 - q6))/400 - (13*cos(2*q2 + 2*q3 + q4 - q6))/400 + (13*cos(2*q2 + 2*q3 - q4 + q6))/400 + (13*cos(2*q2 + 2*q3 + q5 - q6))/400 + (13*cos(2*q2 + 2*q3 - q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q6))/400000 - (64707*sin(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q5 + q6))/400000 + (3*cos(q2 + q3 + q4 - q5 - q6))/160 + (3*cos(q2 + q3 - q4 + q5 - q6))/160 - (3*cos(q2 + q3 - q4 - q5 + q6))/160 + (59*cos(2*q2 + q3 + q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 + q4 - q5 + q6))/800 - (59*cos(2*q2 + q3 - q4 + q5 + q6))/800 - (13*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (13*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (64707*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800000 - (3*cos(q2 + q3 + q4 - q6))/80 + (3*cos(q2 + q3 - q4 + q6))/80 + (3*cos(q2 + q3 + q5 - q6))/80 + (3*cos(q2 + q3 - q5 + q6))/80 - (59*cos(2*q2 + q3 + q4 + q6))/400 - (59*cos(2*q2 + q3 + q5 + q6))/400 - (3*cos(q2 + q3 + q4 + q5 + q6))/160) + dq3*((13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100)) - dq3r*(dq2*((13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100) - dq1*((64707*c6*s4)/100000 + (13*s5*s6)/100 - (64707*c2^2*c6*s4)/50000 - (64707*c3^2*c6*s4)/50000 - (13*c2^2*s5*s6)/50 - (13*c3^2*s5*s6)/50 + (64707*c4*c5*s6)/100000 - (64707*c2^2*c4*c5*s6)/50000 - (64707*c3^2*c4*c5*s6)/50000 + (59*c2^2*c6*s3*s4)/100 + (59*c2^2*c3*s5*s6)/100 + (64707*c2^2*c3^2*c6*s4)/25000 + (13*c2^2*c3^2*s5*s6)/25 - (13*c2*c6*s2*s4)/50 + (3*c2*c6*s3*s4)/20 + (3*c3*c6*s2*s4)/20 + (3*c2*c3*s5*s6)/20 - (13*c3*c6*s3*s4)/50 + (64707*c2*s2*s5*s6)/50000 + (64707*c3*s3*s5*s6)/50000 - (3*s2*s3*s5*s6)/20 + (13*c2*c3^2*c6*s2*s4)/25 + (13*c2^2*c3*c6*s3*s4)/25 + (59*c2^2*c4*c5*s3*s6)/100 - (64707*c2*c3^2*s2*s5*s6)/25000 - (64707*c2^2*c3*s3*s5*s6)/25000 + (64707*c2^2*c3^2*c4*c5*s6)/25000 + (59*c2*c3*c6*s2*s4)/100 - (13*c2*c4*c5*s2*s6)/50 + (3*c2*c4*c5*s3*s6)/20 + (3*c3*c4*c5*s2*s6)/20 - (13*c3*c4*c5*s3*s6)/50 - (59*c2*s2*s3*s5*s6)/100 + (59*c2*c3*c4*c5*s2*s6)/100 - (64707*c2*c3*c6*s2*s3*s4)/25000 - (13*c2*c3*s2*s3*s5*s6)/25 + (13*c2*c3^2*c4*c5*s2*s6)/25 + (13*c2^2*c3*c4*c5*s3*s6)/25 - (64707*c2*c3*c4*c5*s2*s3*s6)/25000) + dq3*((13*c2*c3*c4*c6)/100 - (64707*c2*c4*c6*s3)/100000 - (64707*c3*c4*c6*s2)/100000 - (13*c4*c6*s2*s3)/100 - (13*c2*c3*c5*s4*s6)/100 + (64707*c2*c5*s3*s4*s6)/100000 + (64707*c3*c5*s2*s4*s6)/100000 + (13*c5*s2*s3*s4*s6)/100)) + c2*(s3*(c4*(s5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - s4*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - c3*(c5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) - c6*s5*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)))) + ddq4r*((3*c6*s4)/20 + (59*c2*c6*s4)/100 + (3*c4*c5*s6)/20 + (13*c2*c3*c6*s4)/100 + (59*c2*c4*c5*s6)/100 - (64707*c2*c6*s3*s4)/100000 - (64707*c3*c6*s2*s4)/100000 - (13*c6*s2*s3*s4)/100 + (13*c2*c3*c4*c5*s6)/100 - (64707*c2*c4*c5*s3*s6)/100000 - (64707*c3*c4*c5*s2*s6)/100000 - (13*c4*c5*s2*s3*s6)/100) + ddq6r*((3*c4*s6)/20 + (59*c2*c4*s6)/100 + (3*c5*c6*s4)/20 + (13*c2*c3*c4*s6)/100 + (59*c2*c5*c6*s4)/100 - (64707*c2*c4*s3*s6)/100000 - (64707*c3*c4*s2*s6)/100000 - (13*c4*s2*s3*s6)/100 + (13*c2*c3*c5*c6*s4)/100 - (64707*c2*c5*c6*s3*s4)/100000 - (64707*c3*c5*c6*s2*s4)/100000 - (13*c5*c6*s2*s3*s4)/100) + s2*(c3*(c4*(s5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - s4*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + s3*(c5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) - c6*s5*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)))) - ddq2r*((59*c4*c6*s2)/100 + (64707*c2*c3*c4*c6)/100000 + (13*c2*c4*c6*s3)/100 + (13*c3*c4*c6*s2)/100 - (64707*c4*c6*s2*s3)/100000 - (59*c5*s2*s4*s6)/100 - (64707*c2*c3*c5*s4*s6)/100000 - (13*c2*c5*s3*s4*s6)/100 - (13*c3*c5*s2*s4*s6)/100 + (64707*c5*s2*s3*s4*s6)/100000) - dq5r*(dq4*((3*c4*s5*s6)/20 + (59*c2*c4*s5*s6)/100 + (13*c2*c3*c4*s5*s6)/100 - (64707*c2*c4*s3*s5*s6)/100000 - (64707*c3*c4*s2*s5*s6)/100000 - (13*c4*s2*s3*s5*s6)/100) - dq1*((3*sin(q2 + q3)*c5*s6)/40 + (59*c2^2*c5*s3*s6)/200 + (59*sin(q2 + q3)*c2*c5*s6)/200 + (3*cos(q2 + q3)*c4*s5*s6)/40 + (3*c2*c5*s3*s6)/40 + (3*c3*c5*s2*s6)/40 + (59*c2^2*c3*c4*s5*s6)/200 + (13*cos(q2 + q3)*c2*c5*s3*s6)/200 + (13*cos(q2 + q3)*c3*c5*s2*s6)/200 + (13*sin(q2 + q3)*c2*c3*c5*s6)/200 + (59*cos(q2 + q3)*c2*c4*s5*s6)/200 - (64707*sin(q2 + q3)*c2*c5*s3*s6)/100000 - (64707*sin(q2 + q3)*c3*c5*s2*s6)/100000 - (13*sin(q2 + q3)*c5*s2*s3*s6)/200 + (59*c2*c3*c5*s2*s6)/200 + (3*c2*c3*c4*s5*s6)/40 - (3*c4*s2*s3*s5*s6)/40 + (13*cos(q2 + q3)*c2*c3*c4*s5*s6)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5*s6)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5*s6)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5*s6)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5*s6)/200000 - (59*c2*c4*s2*s3*s5*s6)/200) + dq5*((3*c5*s4*s6)/20 + (59*c2*c5*s4*s6)/100 + (13*c2*c3*c5*s4*s6)/100 - (64707*c2*c5*s3*s4*s6)/100000 - (64707*c3*c5*s2*s4*s6)/100000 - (13*c5*s2*s3*s4*s6)/100) + dq6*((3*c6*s4*s5)/20 + (59*c2*c6*s4*s5)/100 + (13*c2*c3*c6*s4*s5)/100 - (64707*c2*c6*s3*s4*s5)/100000 - (64707*c3*c6*s2*s4*s5)/100000 - (13*c6*s2*s3*s4*s5)/100)) + dq1r*(dq3*((64707*c6*s4)/100000 + (13*s5*s6)/100 - (64707*c2^2*c6*s4)/50000 - (64707*c3^2*c6*s4)/50000 - (13*c2^2*s5*s6)/50 - (13*c3^2*s5*s6)/50 + (64707*c4*c5*s6)/100000 - (64707*c2^2*c4*c5*s6)/50000 - (64707*c3^2*c4*c5*s6)/50000 + (59*c2^2*c6*s3*s4)/100 + (59*c2^2*c3*s5*s6)/100 + (64707*c2^2*c3^2*c6*s4)/25000 + (13*c2^2*c3^2*s5*s6)/25 - (13*c2*c6*s2*s4)/50 + (3*c2*c6*s3*s4)/20 + (3*c3*c6*s2*s4)/20 + (3*c2*c3*s5*s6)/20 - (13*c3*c6*s3*s4)/50 + (64707*c2*s2*s5*s6)/50000 + (64707*c3*s3*s5*s6)/50000 - (3*s2*s3*s5*s6)/20 + (13*c2*c3^2*c6*s2*s4)/25 + (13*c2^2*c3*c6*s3*s4)/25 + (59*c2^2*c4*c5*s3*s6)/100 - (64707*c2*c3^2*s2*s5*s6)/25000 - (64707*c2^2*c3*s3*s5*s6)/25000 + (64707*c2^2*c3^2*c4*c5*s6)/25000 + (59*c2*c3*c6*s2*s4)/100 - (13*c2*c4*c5*s2*s6)/50 + (3*c2*c4*c5*s3*s6)/20 + (3*c3*c4*c5*s2*s6)/20 - (13*c3*c4*c5*s3*s6)/50 - (59*c2*s2*s3*s5*s6)/100 + (59*c2*c3*c4*c5*s2*s6)/100 - (64707*c2*c3*c6*s2*s3*s4)/25000 - (13*c2*c3*s2*s3*s5*s6)/25 + (13*c2*c3^2*c4*c5*s2*s6)/25 + (13*c2^2*c3*c4*c5*s3*s6)/25 - (64707*c2*c3*c4*c5*s2*s3*s6)/25000) + dq5*((3*sin(q2 + q3)*c5*s6)/40 + (59*c2^2*c5*s3*s6)/200 + (59*sin(q2 + q3)*c2*c5*s6)/200 + (3*cos(q2 + q3)*c4*s5*s6)/40 + (3*c2*c5*s3*s6)/40 + (3*c3*c5*s2*s6)/40 + (59*c2^2*c3*c4*s5*s6)/200 + (13*cos(q2 + q3)*c2*c5*s3*s6)/200 + (13*cos(q2 + q3)*c3*c5*s2*s6)/200 + (13*sin(q2 + q3)*c2*c3*c5*s6)/200 + (59*cos(q2 + q3)*c2*c4*s5*s6)/200 - (64707*sin(q2 + q3)*c2*c5*s3*s6)/100000 - (64707*sin(q2 + q3)*c3*c5*s2*s6)/100000 - (13*sin(q2 + q3)*c5*s2*s3*s6)/200 + (59*c2*c3*c5*s2*s6)/200 + (3*c2*c3*c4*s5*s6)/40 - (3*c4*s2*s3*s5*s6)/40 + (13*cos(q2 + q3)*c2*c3*c4*s5*s6)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5*s6)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5*s6)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5*s6)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5*s6)/200000 - (59*c2*c4*s2*s3*s5*s6)/200) + dq2*((13*cos(2*q2 + 2*q3 - q4 - q6))/400 - (13*cos(2*q2 + 2*q3 - q5 - q6))/400 - (64707*sin(2*q2 + 2*q3 - q4 - q6))/400000 + (64707*sin(2*q2 + 2*q3 - q5 - q6))/400000 + (3*cos(q2 + q3 - q4 - q5 - q6))/160 + (59*cos(2*q2 + q3 + q4 - q5 - q6))/800 + (59*cos(2*q2 + q3 - q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 - q4 - q5 + q6))/800 + (13*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800 - (13*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*cos(q2 + q3 - q4 - q6))/80 - (3*cos(q2 + q3 - q5 - q6))/80 - (59*cos(2*q2 + q3 + q4 - q6))/400 + (59*cos(2*q2 + q3 - q4 + q6))/400 + (59*cos(2*q2 + q3 + q5 - q6))/400 + (59*cos(2*q2 + q3 - q5 + q6))/400 - (13*cos(2*q2 + 2*q3 + q4 + q6))/400 - (13*cos(2*q2 + 2*q3 + q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*sin(2*q2 + 2*q3 + q5 + q6))/400000 + (3*cos(q2 + q3 + q4 + q5 - q6))/160 - (3*cos(q2 + q3 + q4 - q5 + q6))/160 - (3*cos(q2 + q3 - q4 + q5 + q6))/160 - (59*cos(2*q2 + q3 + q4 + q5 + q6))/800 + (59*cos(2*q2 + q3 - q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800000 - (64707*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800000 - (3*cos(q2 + q3 + q4 + q6))/80 - (3*cos(q2 + q3 + q5 + q6))/80 + (59*cos(2*q2 + q3 - q4 - q6))/400 - (59*cos(2*q2 + q3 - q5 - q6))/400 - (13*cos(2*q2 + 2*q3 + q4 - q6))/400 + (13*cos(2*q2 + 2*q3 - q4 + q6))/400 + (13*cos(2*q2 + 2*q3 + q5 - q6))/400 + (13*cos(2*q2 + 2*q3 - q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q6))/400000 - (64707*sin(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q5 + q6))/400000 + (3*cos(q2 + q3 + q4 - q5 - q6))/160 + (3*cos(q2 + q3 - q4 + q5 - q6))/160 - (3*cos(q2 + q3 - q4 - q5 + q6))/160 + (59*cos(2*q2 + q3 + q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 + q4 - q5 + q6))/800 - (59*cos(2*q2 + q3 - q4 + q5 + q6))/800 - (13*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (13*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (64707*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800000 - (3*cos(q2 + q3 + q4 - q6))/80 + (3*cos(q2 + q3 - q4 + q6))/80 + (3*cos(q2 + q3 + q5 - q6))/80 + (3*cos(q2 + q3 - q5 + q6))/80 - (59*cos(2*q2 + q3 + q4 + q6))/400 - (59*cos(2*q2 + q3 + q5 + q6))/400 - (3*cos(q2 + q3 + q4 + q5 + q6))/160) + dq6*((59*c2^2*c3*s4*s6)/200 + (59*c2^2*c6*s3*s5)/200 - (3*cos(q2 + q3)*c4*c5*c6)/40 + (59*cos(q2 + q3)*c2*s4*s6)/200 + (59*sin(q2 + q3)*c2*c6*s5)/200 + (3*c2*c3*s4*s6)/20 + (3*c2*c6*s3*s5)/20 + (3*c3*c6*s2*s5)/20 - (3*s2*s3*s4*s6)/20 - (59*cos(q2 + q3)*c2*c4*c5*c6)/200 + (13*cos(q2 + q3)*c2*c3*s4*s6)/100 + (13*cos(q2 + q3)*c2*c6*s3*s5)/200 + (13*cos(q2 + q3)*c3*c6*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*c6*s5)/200 - (3*c2*c3*c4*c5*c6)/40 - (64707*cos(q2 + q3)*c2*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c6*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*c6*s2*s5)/100000 - (13*cos(q2 + q3)*s2*s3*s4*s6)/100 - (13*sin(q2 + q3)*c6*s2*s3*s5)/200 + (59*c2*c3*c6*s2*s5)/200 + (3*c4*c5*c6*s2*s3)/40 + (64707*sin(q2 + q3)*s2*s3*s4*s6)/200000 - (59*c2*s2*s3*s4*s6)/200 - (59*c2^2*c3*c4*c5*c6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*c6)/200000 + (13*cos(q2 + q3)*c4*c5*c6*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*c6*s2*s3)/200000 + (59*c2*c4*c5*c6*s2*s3)/200) + dq4*((3*cos(q2 + q3)*c5*s4*s6)/40 - (59*cos(q2 + q3)*c2*c4*c6)/200 - (59*c2^2*c3*c4*c6)/200 - (3*c2*c3*c4*c6)/20 + (3*c4*c6*s2*s3)/20 + (59*c2^2*c3*c5*s4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c6)/200000 + (13*cos(q2 + q3)*c4*c6*s2*s3)/100 + (59*cos(q2 + q3)*c2*c5*s4*s6)/200 - (64707*sin(q2 + q3)*c4*c6*s2*s3)/200000 + (59*c2*c4*c6*s2*s3)/200 + (3*c2*c3*c5*s4*s6)/40 - (3*c5*s2*s3*s4*s6)/40 + (13*cos(q2 + q3)*c2*c3*c5*s4*s6)/100 - (64707*cos(q2 + q3)*c2*c5*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*c5*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c5*s4*s6)/200000 - (13*cos(q2 + q3)*c5*s2*s3*s4*s6)/100 + (64707*sin(q2 + q3)*c5*s2*s3*s4*s6)/200000 - (59*c2*c5*s2*s3*s4*s6)/200)) - ddq3r*((64707*c2*c3*c4*c6)/100000 + (13*c2*c4*c6*s3)/100 + (13*c3*c4*c6*s2)/100 - (64707*c4*c6*s2*s3)/100000 - (64707*c2*c3*c5*s4*s6)/100000 - (13*c2*c5*s3*s4*s6)/100 - (13*c3*c5*s2*s4*s6)/100 + (64707*c5*s2*s3*s4*s6)/100000);
Y(1,18) =dq1r*(dq4*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2 + 2*sin(q2 + q3)*c2*c5*c6^2*s3 + 2*sin(q2 + q3)*c3*c5*c6^2*s2 - 4*sin(q2 + q3)*c2*c4^2*c5*c6^2*s3 - 4*sin(q2 + q3)*c3*c4^2*c5*c6^2*s2 - cos(q2 + q3)*c2*c4*c6^2*s3*s5 - cos(q2 + q3)*c3*c4*c6^2*s2*s5 - sin(q2 + q3)*c2*c3*c4*c6^2*s5 + sin(q2 + q3)*c4*c6^2*s2*s3*s5 + 2*sin(q2 + q3)*c2*c4*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c6*s2*s4*s6 + cos(q2 + q3)*c2*c5*c6*s3*s4*s5*s6 + cos(q2 + q3)*c3*c5*c6*s2*s4*s5*s6 + sin(q2 + q3)*c2*c3*c5*c6*s4*s5*s6 - sin(q2 + q3)*c5*c6*s2*s3*s4*s5*s6 + 2*sin(q2 + q3)*c2*c4*c5^2*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c5^2*c6*s2*s4*s6) - dq2*((3*cos(2*q2 + 2*q3 - 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 - 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q5 + 2*q6))/32 - cos(2*q2 + 2*q3 + q4 + q5 - 2*q6)/8 - cos(2*q2 + 2*q3 + q4 + q5 + 2*q6)/8 - (3*cos(2*q2 + 2*q3 - 2*q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q6))/16 + cos(2*q2 + 2*q3 + q4 - q5 - 2*q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 + 2*q6)/8 - cos(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 - q4 - q5 - 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/64) + dq3*(s4*s5 - 2*c2^2*s4*s5 - 2*c3^2*s4*s5 - 2*c6^2*s4*s5 + 4*c2^2*c3^2*s4*s5 + 4*c2^2*c6^2*s4*s5 + 4*c3^2*c6^2*s4*s5 - 4*c2*c6*s2*s6 - 4*c3*c6*s3*s6 + 8*c2*c3^2*c6*s2*s6 + 2*c2*c4^2*c6*s2*s6 + 8*c2^2*c3*c6*s3*s6 + 2*c2*c5^2*c6*s2*s6 + 2*c3*c4^2*c6*s3*s6 + 2*c3*c5^2*c6*s3*s6 - 2*c2*c4*c5*s2*s4 - 2*c3*c4*c5*s3*s4 - 2*c4*c5*c6*s5*s6 - 8*c2^2*c3^2*c6^2*s4*s5 - 4*c2*c3^2*c4^2*c6*s2*s6 - 4*c2*c3^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c6*s3*s6 + 2*c2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s3*s6 - 4*c2*c3*s2*s3*s4*s5 + 4*c2*c3^2*c4*c5*s2*s4 + 4*c2^2*c3*c4*c5*s3*s4 + 4*c2*c4*c5*c6^2*s2*s4 + 4*c3*c4*c5*c6^2*s3*s4 + 4*c2^2*c4*c5*c6*s5*s6 + 4*c3^2*c4*c5*c6*s5*s6 - 8*c2*c3^2*c4*c5*c6^2*s2*s4 - 8*c2^2*c3*c4*c5*c6^2*s3*s4 - 8*c2^2*c3^2*c4*c5*c6*s5*s6 - 4*c2*c3^2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c5^2*c6*s3*s6 + 8*c2*c3*c6^2*s2*s3*s4*s5 + 8*c2*c3*c4*c5*c6*s2*s3*s5*s6) + dq6*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*s3 - sin(q2 + q3)*c3*s2 + sin(q2 + q3)*c2*c4^2*s3 + sin(q2 + q3)*c3*c4^2*s2 + cos(q2 + q3)*c5^2*s2*s3 + 2*cos(q2 + q3)*c6^2*s2*s3 + 2*sin(q2 + q3)*c2*c6^2*s3 + 2*sin(q2 + q3)*c3*c6^2*s2 - cos(q2 + q3)*c2*c3*c5^2 - 2*cos(q2 + q3)*c2*c3*c6^2 + 2*cos(q2 + q3)*c2*c3*c5^2*c6^2 + sin(q2 + q3)*c2*c4^2*c5^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*s2 - 2*sin(q2 + q3)*c2*c4^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c6^2*s2 - 2*cos(q2 + q3)*c5^2*c6^2*s2*s3 + cos(q2 + q3)*c2*c4*c5*s3*s5 + cos(q2 + q3)*c3*c4*c5*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6^2*s2 - sin(q2 + q3)*c4*c5*s2*s3*s5 + 2*cos(q2 + q3)*c2*c6*s3*s4*s5*s6 + 2*cos(q2 + q3)*c3*c6*s2*s4*s5*s6 + 2*sin(q2 + q3)*c2*c3*c6*s4*s5*s6 - 2*sin(q2 + q3)*c6*s2*s3*s4*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5*c6^2*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6^2*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6^2*s5 + 2*sin(q2 + q3)*c4*c5*c6^2*s2*s3*s5 + 4*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s6 + 4*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s6) + dq5*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 + cos(q2 + q3)*c2*c4*c6*s3*s6 + cos(q2 + q3)*c3*c4*c6*s2*s6 + sin(q2 + q3)*c2*c3*c4*c6*s6 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5 - sin(q2 + q3)*c4*c6*s2*s3*s6 - cos(q2 + q3)*c2*c5*c6^2*s3*s4 - cos(q2 + q3)*c3*c5*c6^2*s2*s4 - sin(q2 + q3)*c2*c3*c5*c6^2*s4 + sin(q2 + q3)*c5*c6^2*s2*s3*s4 - 2*cos(q2 + q3)*c2*c3*c5*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6*s2*s3*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5^2*c6*s3*s6 - 2*cos(q2 + q3)*c3*c4*c5^2*c6*s2*s6 - 2*sin(q2 + q3)*c2*c3*c4*c5^2*c6*s6 + 2*sin(q2 + q3)*c2*c4*c6^2*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c6^2*s2*s4*s5 + 2*sin(q2 + q3)*c4*c5^2*c6*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5*s6)) - ddq2r*(2*c2*c4^2*c5*s3 - c3*c5*s2 - c2*c5*s3 + 2*c3*c4^2*c5*s2 + 2*c2*c5*c6^2*s3 + 2*c3*c5*c6^2*s2 + c2*c3*c4*s5 - c4*s2*s3*s5 + 2*c4*c6^2*s2*s3*s5 - 4*c2*c4^2*c5*c6^2*s3 - 4*c3*c4^2*c5*c6^2*s2 - 2*c2*c3*c4*c6^2*s5 + 2*c2*c4*c6*s3*s4*s6 + 2*c3*c4*c6*s2*s4*s6 + 2*c2*c3*c5*c6*s4*s5*s6 - 2*c5*c6*s2*s3*s4*s5*s6 + 2*c2*c4*c5^2*c6*s3*s4*s6 + 2*c3*c4*c5^2*c6*s2*s4*s6) - ddq3r*(2*c2*c4^2*c5*s3 - c3*c5*s2 - c2*c5*s3 + 2*c3*c4^2*c5*s2 + 2*c2*c5*c6^2*s3 + 2*c3*c5*c6^2*s2 + c2*c3*c4*s5 - c4*s2*s3*s5 + 2*c4*c6^2*s2*s3*s5 - 4*c2*c4^2*c5*c6^2*s3 - 4*c3*c4^2*c5*c6^2*s2 - 2*c2*c3*c4*c6^2*s5 + 2*c2*c4*c6*s3*s4*s6 + 2*c3*c4*c6*s2*s4*s6 + 2*c2*c3*c5*c6*s4*s5*s6 - 2*c5*c6*s2*s3*s4*s5*s6 + 2*c2*c4*c5^2*c6*s3*s4*s6 + 2*c3*c4*c5^2*c6*s2*s4*s6) - ddq5r*(c2*c3*s5 - s2*s3*s5 - 2*c2*c3*c6^2*s5 + 2*c6^2*s2*s3*s5 + c2*c4*c5*s3 + c3*c4*c5*s2 + 2*c2*c6*s3*s4*s6 + 2*c3*c6*s2*s4*s6 - 2*c2*c4*c5*c6^2*s3 - 2*c3*c4*c5*c6^2*s2) - dq4r*(dq5*(2*c2*c4*c6*s3*s6 + 2*c3*c4*c6*s2*s6 - 2*c2*c3*c5*c6*s5*s6 + 2*c5*c6*s2*s3*s5*s6 - 2*c2*c4*c5^2*c6*s3*s6 - 2*c3*c4*c5^2*c6*s2*s6) - dq1*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2 + 2*sin(q2 + q3)*c2*c5*c6^2*s3 + 2*sin(q2 + q3)*c3*c5*c6^2*s2 - 4*sin(q2 + q3)*c2*c4^2*c5*c6^2*s3 - 4*sin(q2 + q3)*c3*c4^2*c5*c6^2*s2 - cos(q2 + q3)*c2*c4*c6^2*s3*s5 - cos(q2 + q3)*c3*c4*c6^2*s2*s5 - sin(q2 + q3)*c2*c3*c4*c6^2*s5 + sin(q2 + q3)*c4*c6^2*s2*s3*s5 + 2*sin(q2 + q3)*c2*c4*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c6*s2*s4*s6 + cos(q2 + q3)*c2*c5*c6*s3*s4*s5*s6 + cos(q2 + q3)*c3*c5*c6*s2*s4*s5*s6 + sin(q2 + q3)*c2*c3*c5*c6*s4*s5*s6 - sin(q2 + q3)*c5*c6*s2*s3*s4*s5*s6 + 2*sin(q2 + q3)*c2*c4*c5^2*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c5^2*c6*s2*s4*s6) + dq2*(2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c2*c5^2*c6*s3*s6 - 2*c3*c5^2*c6*s2*s6 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4) + dq3*(2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c2*c5^2*c6*s3*s6 - 2*c3*c5^2*c6*s2*s6 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4) + dq4*(c2*c4*s3*s5 + c3*c4*s2*s5 - 2*c2*c4*c6^2*s3*s5 - 2*c3*c4*c6^2*s2*s5 + 2*c2*c5*c6*s3*s4*s5*s6 + 2*c3*c5*c6*s2*s4*s5*s6) + dq6*(c2*c3 - s2*s3 - c2*c3*c5^2 - 2*c2*c3*c6^2 + c5^2*s2*s3 + 2*c6^2*s2*s3 + 2*c2*c3*c5^2*c6^2 - 2*c5^2*c6^2*s2*s3 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5 + 2*c2*c6*s3*s4*s5*s6 + 2*c3*c6*s2*s4*s5*s6 - 2*c2*c4*c5*c6^2*s3*s5 - 2*c3*c4*c5*c6^2*s2*s5)) + dq3r*(dq5*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3 - 2*c4*c5*c6^2*s2*s3 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c4*c5*c6^2 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) + dq2*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 - 2*c2*c3*c5*c6^2 + 2*c4^2*c5*s2*s3 + 2*c5*c6^2*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5 - 2*c2*c4*c6^2*s3*s5 - 2*c3*c4*c6^2*s2*s5 + 4*c2*c3*c4^2*c5*c6^2 - 4*c4^2*c5*c6^2*s2*s3 - 2*c2*c3*c4*c6*s4*s6 + 2*c4*c6*s2*s3*s4*s6 + 2*c2*c5*c6*s3*s4*s5*s6 + 2*c3*c5*c6*s2*s4*s5*s6 - 2*c2*c3*c4*c5^2*c6*s4*s6 + 2*c4*c5^2*c6*s2*s3*s4*s6) + dq3*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 - 2*c2*c3*c5*c6^2 + 2*c4^2*c5*s2*s3 + 2*c5*c6^2*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5 - 2*c2*c4*c6^2*s3*s5 - 2*c3*c4*c6^2*s2*s5 + 4*c2*c3*c4^2*c5*c6^2 - 4*c4^2*c5*c6^2*s2*s3 - 2*c2*c3*c4*c6*s4*s6 + 2*c4*c6*s2*s3*s4*s6 + 2*c2*c5*c6*s3*s4*s5*s6 + 2*c3*c5*c6*s2*s4*s5*s6 - 2*c2*c3*c4*c5^2*c6*s4*s6 + 2*c4*c5^2*c6*s2*s3*s4*s6) + dq1*(s4*s5 - 2*c2^2*s4*s5 - 2*c3^2*s4*s5 - 2*c6^2*s4*s5 + 4*c2^2*c3^2*s4*s5 + 4*c2^2*c6^2*s4*s5 + 4*c3^2*c6^2*s4*s5 - 4*c2*c6*s2*s6 - 4*c3*c6*s3*s6 + 8*c2*c3^2*c6*s2*s6 + 2*c2*c4^2*c6*s2*s6 + 8*c2^2*c3*c6*s3*s6 + 2*c2*c5^2*c6*s2*s6 + 2*c3*c4^2*c6*s3*s6 + 2*c3*c5^2*c6*s3*s6 - 2*c2*c4*c5*s2*s4 - 2*c3*c4*c5*s3*s4 - 2*c4*c5*c6*s5*s6 - 8*c2^2*c3^2*c6^2*s4*s5 - 4*c2*c3^2*c4^2*c6*s2*s6 - 4*c2*c3^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c6*s3*s6 + 2*c2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s3*s6 - 4*c2*c3*s2*s3*s4*s5 + 4*c2*c3^2*c4*c5*s2*s4 + 4*c2^2*c3*c4*c5*s3*s4 + 4*c2*c4*c5*c6^2*s2*s4 + 4*c3*c4*c5*c6^2*s3*s4 + 4*c2^2*c4*c5*c6*s5*s6 + 4*c3^2*c4*c5*c6*s5*s6 - 8*c2*c3^2*c4*c5*c6^2*s2*s4 - 8*c2^2*c3*c4*c5*c6^2*s3*s4 - 8*c2^2*c3^2*c4*c5*c6*s5*s6 - 4*c2*c3^2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c5^2*c6*s3*s6 + 8*c2*c3*c6^2*s2*s3*s4*s5 + 8*c2*c3*c4*c5*c6*s2*s3*s5*s6) + dq6*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) - dq4*(2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c2*c5^2*c6*s3*s6 - 2*c3*c5^2*c6*s2*s6 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4)) + ddq4r*(2*c2*c3*c6*s6 - c2*s3*s4*s5 - c3*s2*s4*s5 - 2*c6*s2*s3*s6 + 2*c2*c6^2*s3*s4*s5 + 2*c3*c6^2*s2*s4*s5 + 2*c5^2*c6*s2*s3*s6 - 2*c2*c3*c5^2*c6*s6 + 2*c2*c4*c5*c6*s3*s5*s6 + 2*c3*c4*c5*c6*s2*s5*s6) + dq6r*(dq1*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*s3 - sin(q2 + q3)*c3*s2 + sin(q2 + q3)*c2*c4^2*s3 + sin(q2 + q3)*c3*c4^2*s2 + cos(q2 + q3)*c5^2*s2*s3 + 2*cos(q2 + q3)*c6^2*s2*s3 + 2*sin(q2 + q3)*c2*c6^2*s3 + 2*sin(q2 + q3)*c3*c6^2*s2 - cos(q2 + q3)*c2*c3*c5^2 - 2*cos(q2 + q3)*c2*c3*c6^2 + 2*cos(q2 + q3)*c2*c3*c5^2*c6^2 + sin(q2 + q3)*c2*c4^2*c5^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*s2 - 2*sin(q2 + q3)*c2*c4^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c6^2*s2 - 2*cos(q2 + q3)*c5^2*c6^2*s2*s3 + cos(q2 + q3)*c2*c4*c5*s3*s5 + cos(q2 + q3)*c3*c4*c5*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6^2*s2 - sin(q2 + q3)*c4*c5*s2*s3*s5 + 2*cos(q2 + q3)*c2*c6*s3*s4*s5*s6 + 2*cos(q2 + q3)*c3*c6*s2*s4*s5*s6 + 2*sin(q2 + q3)*c2*c3*c6*s4*s5*s6 - 2*sin(q2 + q3)*c6*s2*s3*s4*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5*c6^2*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6^2*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6^2*s5 + 2*sin(q2 + q3)*c4*c5*c6^2*s2*s3*s5 + 4*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s6 + 4*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s6) + dq2*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) + dq3*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) - dq4*(c2*c3 - s2*s3 - c2*c3*c5^2 - 2*c2*c3*c6^2 + c5^2*s2*s3 + 2*c6^2*s2*s3 + 2*c2*c3*c5^2*c6^2 - 2*c5^2*c6^2*s2*s3 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5 + 2*c2*c6*s3*s4*s5*s6 + 2*c3*c6*s2*s4*s5*s6 - 2*c2*c4*c5*c6^2*s3*s5 - 2*c3*c4*c5*c6^2*s2*s5) - dq5*(2*c2*c6^2*s3*s4 - c3*s2*s4 - c2*s3*s4 + 2*c3*c6^2*s2*s4 + 2*c2*c3*c6*s5*s6 - 2*c6*s2*s3*s5*s6 + 2*c2*c4*c5*c6*s3*s6 + 2*c3*c4*c5*c6*s2*s6)) + dq5r*(dq2*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3 - 2*c4*c5*c6^2*s2*s3 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c4*c5*c6^2 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) + dq3*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3 - 2*c4*c5*c6^2*s2*s3 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c4*c5*c6^2 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) - dq4*(2*c2*c4*c6*s3*s6 + 2*c3*c4*c6*s2*s6 - 2*c2*c3*c5*c6*s5*s6 + 2*c5*c6*s2*s3*s5*s6 - 2*c2*c4*c5^2*c6*s3*s6 - 2*c3*c4*c5^2*c6*s2*s6) + dq1*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 + cos(q2 + q3)*c2*c4*c6*s3*s6 + cos(q2 + q3)*c3*c4*c6*s2*s6 + sin(q2 + q3)*c2*c3*c4*c6*s6 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5 - sin(q2 + q3)*c4*c6*s2*s3*s6 - cos(q2 + q3)*c2*c5*c6^2*s3*s4 - cos(q2 + q3)*c3*c5*c6^2*s2*s4 - sin(q2 + q3)*c2*c3*c5*c6^2*s4 + sin(q2 + q3)*c5*c6^2*s2*s3*s4 - 2*cos(q2 + q3)*c2*c3*c5*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6*s2*s3*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5^2*c6*s3*s6 - 2*cos(q2 + q3)*c3*c4*c5^2*c6*s2*s6 - 2*sin(q2 + q3)*c2*c3*c4*c5^2*c6*s6 + 2*sin(q2 + q3)*c2*c4*c6^2*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c6^2*s2*s4*s5 + 2*sin(q2 + q3)*c4*c5^2*c6*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5*s6) - dq6*(2*c2*c6^2*s3*s4 - c3*s2*s4 - c2*s3*s4 + 2*c3*c6^2*s2*s4 + 2*c2*c3*c6*s5*s6 - 2*c6*s2*s3*s5*s6 + 2*c2*c4*c5*c6*s3*s6 + 2*c3*c4*c5*c6*s2*s6) - dq5*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c5*c6^2 + 2*c5*c6^2*s2*s3 - c2*c4*s3*s5 - c3*c4*s2*s5 + 2*c2*c4*c6^2*s3*s5 + 2*c3*c4*c6^2*s2*s5)) + dq2r*(dq5*(c2*c4^2*s3*s5 + c3*c4^2*s2*s5 - c2*c3*c4*c5 + c4*c5*s2*s3 - 2*c4*c5*c6^2*s2*s3 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c4*c5*c6^2 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) - dq1*((3*cos(2*q2 + 2*q3 - 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 - 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q5 + 2*q6))/32 - cos(2*q2 + 2*q3 + q4 + q5 - 2*q6)/8 - cos(2*q2 + 2*q3 + q4 + q5 + 2*q6)/8 - (3*cos(2*q2 + 2*q3 - 2*q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q6))/16 + cos(2*q2 + 2*q3 + q4 - q5 - 2*q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 + 2*q6)/8 - cos(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 - q4 - q5 - 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/64) + dq2*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 - 2*c2*c3*c5*c6^2 + 2*c4^2*c5*s2*s3 + 2*c5*c6^2*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5 - 2*c2*c4*c6^2*s3*s5 - 2*c3*c4*c6^2*s2*s5 + 4*c2*c3*c4^2*c5*c6^2 - 4*c4^2*c5*c6^2*s2*s3 - 2*c2*c3*c4*c6*s4*s6 + 2*c4*c6*s2*s3*s4*s6 + 2*c2*c5*c6*s3*s4*s5*s6 + 2*c3*c5*c6*s2*s4*s5*s6 - 2*c2*c3*c4*c5^2*c6*s4*s6 + 2*c4*c5^2*c6*s2*s3*s4*s6) + dq3*(c2*c3*c5 - c5*s2*s3 - 2*c2*c3*c4^2*c5 - 2*c2*c3*c5*c6^2 + 2*c4^2*c5*s2*s3 + 2*c5*c6^2*s2*s3 + c2*c4*s3*s5 + c3*c4*s2*s5 - 2*c2*c4*c6^2*s3*s5 - 2*c3*c4*c6^2*s2*s5 + 4*c2*c3*c4^2*c5*c6^2 - 4*c4^2*c5*c6^2*s2*s3 - 2*c2*c3*c4*c6*s4*s6 + 2*c4*c6*s2*s3*s4*s6 + 2*c2*c5*c6*s3*s4*s5*s6 + 2*c3*c5*c6*s2*s4*s5*s6 - 2*c2*c3*c4*c5^2*c6*s4*s6 + 2*c4*c5^2*c6*s2*s3*s4*s6) + dq6*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) - dq4*(2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c2*c5^2*c6*s3*s6 - 2*c3*c5^2*c6*s2*s6 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4)) - ddq1r*(2*cos(q2 + q3)*c2*c3*c6*s6 - cos(q2 + q3)*c2*s3*s4*s5 - cos(q2 + q3)*c3*s2*s4*s5 - sin(q2 + q3)*c2*c3*s4*s5 - 2*cos(q2 + q3)*c6*s2*s3*s6 - 2*sin(q2 + q3)*c2*c6*s3*s6 - 2*sin(q2 + q3)*c3*c6*s2*s6 + sin(q2 + q3)*s2*s3*s4*s5 - 2*sin(q2 + q3)*c2*c4*c5*s3*s4 - 2*sin(q2 + q3)*c3*c4*c5*s2*s4 - 2*cos(q2 + q3)*c2*c3*c5^2*c6*s6 + 2*cos(q2 + q3)*c2*c6^2*s3*s4*s5 + 2*cos(q2 + q3)*c3*c6^2*s2*s4*s5 + 2*sin(q2 + q3)*c2*c3*c6^2*s4*s5 + 2*sin(q2 + q3)*c2*c4^2*c6*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c6*s2*s6 + 2*cos(q2 + q3)*c5^2*c6*s2*s3*s6 - 2*sin(q2 + q3)*c6^2*s2*s3*s4*s5 + 4*sin(q2 + q3)*c2*c4*c5*c6^2*s3*s4 + 4*sin(q2 + q3)*c3*c4*c5*c6^2*s2*s4 + 2*sin(q2 + q3)*c2*c4^2*c5^2*c6*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5^2*c6*s2*s6 + 2*cos(q2 + q3)*c2*c4*c5*c6*s3*s5*s6 + 2*cos(q2 + q3)*c3*c4*c5*c6*s2*s5*s6 + 2*sin(q2 + q3)*c2*c3*c4*c5*c6*s5*s6 - 2*sin(q2 + q3)*c4*c5*c6*s2*s3*s5*s6);
Y(1,19) =dq3r*(dq4*(2*c2*c5*c6*s3*s5 + 2*c3*c5*c6*s2*s5 + 2*c2*c4*s3*s4*s5*s6 + 2*c3*c4*s2*s4*s5*s6 - 2*c2*c4^2*c5*c6*s3*s5 - 2*c3*c4^2*c5*c6*s2*s5) + dq6*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - c2*c3*c5^2*s4*s6 - c2*c4^2*c6*s3*s5 - c3*c4^2*c6*s2*s5 + c5^2*s2*s3*s4*s6 + c2*c4*c5*s3*s4*s5*s6 + c3*c4*c5*s2*s4*s5*s6) - dq5*(c2*c4^2*c5*s3*s6 + c3*c4^2*c5*s2*s6 - c2*c4*c6*s3*s4 - c3*c4*c6*s2*s4 + c2*c3*c4*s5*s6 - c4*s2*s3*s5*s6 + 2*c2*c3*c5*c6*s4*s5 - 2*c5*c6*s2*s3*s4*s5 + 2*c2*c4*c5^2*c6*s3*s4 + 2*c3*c4*c5^2*c6*s2*s4) - dq2*(s2*s3*s5*s6 - c3*c6*s2*s4 - c2*c3*s5*s6 - c2*c6*s3*s4 + 2*c2*c3*c4^2*s5*s6 + 2*c2*c5^2*c6*s3*s4 + 2*c3*c5^2*c6*s2*s4 - 2*c4^2*s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6 + 2*c2*c3*c4*c5*c6*s4*s5 - 2*c4*c5*c6*s2*s3*s4*s5) - dq3*(s2*s3*s5*s6 - c3*c6*s2*s4 - c2*c3*s5*s6 - c2*c6*s3*s4 + 2*c2*c3*c4^2*s5*s6 + 2*c2*c5^2*c6*s3*s4 + 2*c3*c5^2*c6*s2*s4 - 2*c4^2*s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6 + 2*c2*c3*c4*c5*c6*s4*s5 - 2*c4*c5*c6*s2*s3*s4*s5) + dq1*(2*c2^2*c4*c6 - c4*c6 + 2*c3^2*c4*c6 + 2*c4*c5^2*c6 - c5*s4*s6 + 2*c2^2*c5*s4*s6 + 2*c3^2*c5*s4*s6 - 4*c2^2*c3^2*c4*c6 - 4*c2^2*c4*c5^2*c6 - 4*c3^2*c4*c5^2*c6 - 4*c2^2*c3^2*c5*s4*s6 + 8*c2^2*c3^2*c4*c5^2*c6 + 2*c2*c5*c6*s2*s5 + 2*c3*c5*c6*s3*s5 + 4*c2*c3*c4*c6*s2*s3 - 2*c2*c4*s2*s4*s5*s6 - 2*c3*c4*s3*s4*s5*s6 - 4*c2*c3^2*c5*c6*s2*s5 + 2*c2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s3*s5 - 4*c2*c3^2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c4^2*c5*c6*s3*s5 + 4*c2*c3*c5*s2*s3*s4*s6 - 8*c2*c3*c4*c5^2*c6*s2*s3 + 4*c2*c3^2*c4*s2*s4*s5*s6 + 4*c2^2*c3*c4*s3*s4*s5*s6)) + dq4r*(dq1*((cos(q2 + q3)*c2*c6*s3*s4)/2 + (cos(q2 + q3)*c3*c6*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c6*s4)/2 - (sin(q2 + q3)*c6*s2*s3*s4)/2 - sin(q2 + q3)*c2*s3*s5*s6 - sin(q2 + q3)*c3*s2*s5*s6 - (cos(q2 + q3)*c2*c4*c5*s3*s6)/2 - (cos(q2 + q3)*c3*c4*c5*s2*s6)/2 - (sin(q2 + q3)*c2*c3*c4*c5*s6)/2 + (sin(q2 + q3)*c4*c5*s2*s3*s6)/2 - cos(q2 + q3)*c2*c5^2*c6*s3*s4 - cos(q2 + q3)*c3*c5^2*c6*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*c6*s4 + 2*sin(q2 + q3)*c2*c4^2*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*s2*s5*s6 + sin(q2 + q3)*c5^2*c6*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s5) + dq4*(2*c2*c5^2*c6*s3*s4 - c3*c6*s2*s4 - c2*c6*s3*s4 + 2*c3*c5^2*c6*s2*s4 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6) + dq5*(c2*c3*c6 - c6*s2*s3 - 2*c2*c3*c5^2*c6 + 2*c5^2*c6*s2*s3 + 2*c2*c4*c5*c6*s3*s5 + 2*c3*c4*c5*c6*s2*s5) + dq2*(2*c2*c5*c6*s3*s5 + 2*c3*c5*c6*s2*s5 + 2*c2*c4*s3*s4*s5*s6 + 2*c3*c4*s2*s4*s5*s6 - 2*c2*c4^2*c5*c6*s3*s5 - 2*c3*c4^2*c5*c6*s2*s5) + dq3*(2*c2*c5*c6*s3*s5 + 2*c3*c5*c6*s2*s5 + 2*c2*c4*s3*s4*s5*s6 + 2*c3*c4*s2*s4*s5*s6 - 2*c2*c4^2*c5*c6*s3*s5 - 2*c3*c4^2*c5*c6*s2*s5) + dq6*(c2*c4*c5^2*s3*s6 + c3*c4*c5^2*s2*s6 + c2*c5*c6*s3*s4 + c3*c5*c6*s2*s4 + c2*c3*c5*s5*s6 - c5*s2*s3*s5*s6)) - ddq5r*(c5*s2*s3*s6 - c2*c3*c5*s6 + c2*c4*s3*s5*s6 + c3*c4*s2*s5*s6) - ddq1r*(cos(q2 + q3)*c2*c4*c6*s3 + cos(q2 + q3)*c3*c4*c6*s2 + sin(q2 + q3)*c2*c3*c4*c6 - sin(q2 + q3)*c4*c6*s2*s3 - 2*cos(q2 + q3)*c2*c3*c5*c6*s5 + cos(q2 + q3)*c2*c5*s3*s4*s6 + cos(q2 + q3)*c3*c5*s2*s4*s6 + sin(q2 + q3)*c2*c3*c5*s4*s6 + 2*cos(q2 + q3)*c5*c6*s2*s3*s5 - sin(q2 + q3)*c5*s2*s3*s4*s6 - 2*cos(q2 + q3)*c2*c4*c5^2*c6*s3 - 2*cos(q2 + q3)*c3*c4*c5^2*c6*s2 - 2*sin(q2 + q3)*c2*c3*c4*c5^2*c6 + 2*sin(q2 + q3)*c4*c5^2*c6*s2*s3 - 2*sin(q2 + q3)*c2*c4*s3*s4*s5*s6 - 2*sin(q2 + q3)*c3*c4*s2*s4*s5*s6 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5) + ddq4r*(c2*c4*c6*s3 + c3*c4*c6*s2 - 2*c2*c3*c5*c6*s5 + c2*c5*s3*s4*s6 + c3*c5*s2*s4*s6 + 2*c5*c6*s2*s3*s5 - 2*c2*c4*c5^2*c6*s3 - 2*c3*c4*c5^2*c6*s2) - dq5r*(dq5*(c2*c3*s5*s6 - s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6) - dq4*(c2*c3*c6 - c6*s2*s3 - 2*c2*c3*c5^2*c6 + 2*c5^2*c6*s2*s3 + 2*c2*c4*c5*c6*s3*s5 + 2*c3*c4*c5*c6*s2*s5) - dq1*(cos(q2 + q3)*c6*s2*s3 - cos(q2 + q3)*c2*c3*c6 + 2*cos(q2 + q3)*c2*c3*c5^2*c6 + sin(q2 + q3)*c2*c4^2*c6*s3 + sin(q2 + q3)*c3*c4^2*c6*s2 - 2*cos(q2 + q3)*c5^2*c6*s2*s3 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6*s2 + (cos(q2 + q3)*c2*s3*s4*s5*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s5*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s5*s6)/2 - (sin(q2 + q3)*s2*s3*s4*s5*s6)/2 - 2*cos(q2 + q3)*c2*c4*c5*c6*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6*s5 + sin(q2 + q3)*c2*c4*c5*s3*s4*s6 + sin(q2 + q3)*c3*c4*c5*s2*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s2*s3*s5) + dq2*(c2*c4^2*c5*s3*s6 + c3*c4^2*c5*s2*s6 - c2*c4*c6*s3*s4 - c3*c4*c6*s2*s4 + c2*c3*c4*s5*s6 - c4*s2*s3*s5*s6 + 2*c2*c3*c5*c6*s4*s5 - 2*c5*c6*s2*s3*s4*s5 + 2*c2*c4*c5^2*c6*s3*s4 + 2*c3*c4*c5^2*c6*s2*s4) + dq3*(c2*c4^2*c5*s3*s6 + c3*c4^2*c5*s2*s6 - c2*c4*c6*s3*s4 - c3*c4*c6*s2*s4 + c2*c3*c4*s5*s6 - c4*s2*s3*s5*s6 + 2*c2*c3*c5*c6*s4*s5 - 2*c5*c6*s2*s3*s4*s5 + 2*c2*c4*c5^2*c6*s3*s4 + 2*c3*c4*c5^2*c6*s2*s4)) + dq1r*(dq4*((cos(q2 + q3)*c2*c6*s3*s4)/2 + (cos(q2 + q3)*c3*c6*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c6*s4)/2 - (sin(q2 + q3)*c6*s2*s3*s4)/2 - sin(q2 + q3)*c2*s3*s5*s6 - sin(q2 + q3)*c3*s2*s5*s6 - (cos(q2 + q3)*c2*c4*c5*s3*s6)/2 - (cos(q2 + q3)*c3*c4*c5*s2*s6)/2 - (sin(q2 + q3)*c2*c3*c4*c5*s6)/2 + (sin(q2 + q3)*c4*c5*s2*s3*s6)/2 - cos(q2 + q3)*c2*c5^2*c6*s3*s4 - cos(q2 + q3)*c3*c5^2*c6*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*c6*s4 + 2*sin(q2 + q3)*c2*c4^2*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*s2*s5*s6 + sin(q2 + q3)*c5^2*c6*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s5) + dq5*(cos(q2 + q3)*c6*s2*s3 - cos(q2 + q3)*c2*c3*c6 + 2*cos(q2 + q3)*c2*c3*c5^2*c6 + sin(q2 + q3)*c2*c4^2*c6*s3 + sin(q2 + q3)*c3*c4^2*c6*s2 - 2*cos(q2 + q3)*c5^2*c6*s2*s3 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6*s2 + (cos(q2 + q3)*c2*s3*s4*s5*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s5*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s5*s6)/2 - (sin(q2 + q3)*s2*s3*s4*s5*s6)/2 - 2*cos(q2 + q3)*c2*c4*c5*c6*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6*s5 + sin(q2 + q3)*c2*c4*c5*s3*s4*s6 + sin(q2 + q3)*c3*c4*c5*s2*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s2*s3*s5) + dq2*((3*cos(2*q2 + 2*q3 + 2*q5 - q6))/16 - (3*cos(2*q2 + 2*q3 - 2*q5 - q6))/16 - cos(2*q2 + 2*q3 + q4 + q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + q6)/8 - cos(2*q2 + 2*q3 - q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - cos(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + cos(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 - cos(2*q2 + 2*q3 + q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q5 + q6))/16 + cos(2*q2 + 2*q3 + q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 - cos(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 + cos(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32) + dq6*((cos(q2 + q3)*c2*c4*s3*s6)/2 + (cos(q2 + q3)*c3*c4*s2*s6)/2 + (sin(q2 + q3)*c2*c3*c4*s6)/2 - (sin(q2 + q3)*c4*s2*s3*s6)/2 - (cos(q2 + q3)*c2*c5*c6*s3*s4)/2 - (cos(q2 + q3)*c3*c5*c6*s2*s4)/2 - (sin(q2 + q3)*c2*c3*c5*c6*s4)/2 - cos(q2 + q3)*c2*c3*c5*s5*s6 + (sin(q2 + q3)*c5*c6*s2*s3*s4)/2 + cos(q2 + q3)*c5*s2*s3*s5*s6 - cos(q2 + q3)*c2*c4*c5^2*s3*s6 - cos(q2 + q3)*c3*c4*c5^2*s2*s6 - sin(q2 + q3)*c2*c3*c4*c5^2*s6 + sin(q2 + q3)*c4*c5^2*s2*s3*s6 + sin(q2 + q3)*c2*c4*c6*s3*s4*s5 + sin(q2 + q3)*c3*c4*c6*s2*s4*s5 + sin(q2 + q3)*c2*c4^2*c5*s3*s5*s6 + sin(q2 + q3)*c3*c4^2*c5*s2*s5*s6) + dq3*(2*c2^2*c4*c6 - c4*c6 + 2*c3^2*c4*c6 + 2*c4*c5^2*c6 - c5*s4*s6 + 2*c2^2*c5*s4*s6 + 2*c3^2*c5*s4*s6 - 4*c2^2*c3^2*c4*c6 - 4*c2^2*c4*c5^2*c6 - 4*c3^2*c4*c5^2*c6 - 4*c2^2*c3^2*c5*s4*s6 + 8*c2^2*c3^2*c4*c5^2*c6 + 2*c2*c5*c6*s2*s5 + 2*c3*c5*c6*s3*s5 + 4*c2*c3*c4*c6*s2*s3 - 2*c2*c4*s2*s4*s5*s6 - 2*c3*c4*s3*s4*s5*s6 - 4*c2*c3^2*c5*c6*s2*s5 + 2*c2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s3*s5 - 4*c2*c3^2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c4^2*c5*c6*s3*s5 + 4*c2*c3*c5*s2*s3*s4*s6 - 8*c2*c3*c4*c5^2*c6*s2*s3 + 4*c2*c3^2*c4*s2*s4*s5*s6 + 4*c2^2*c3*c4*s3*s4*s5*s6)) + dq6r*(dq2*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - c2*c3*c5^2*s4*s6 - c2*c4^2*c6*s3*s5 - c3*c4^2*c6*s2*s5 + c5^2*s2*s3*s4*s6 + c2*c4*c5*s3*s4*s5*s6 + c3*c4*c5*s2*s4*s5*s6) + dq3*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - c2*c3*c5^2*s4*s6 - c2*c4^2*c6*s3*s5 - c3*c4^2*c6*s2*s5 + c5^2*s2*s3*s4*s6 + c2*c4*c5*s3*s4*s5*s6 + c3*c4*c5*s2*s4*s5*s6) + dq1*((cos(q2 + q3)*c2*c4*s3*s6)/2 + (cos(q2 + q3)*c3*c4*s2*s6)/2 + (sin(q2 + q3)*c2*c3*c4*s6)/2 - (sin(q2 + q3)*c4*s2*s3*s6)/2 - (cos(q2 + q3)*c2*c5*c6*s3*s4)/2 - (cos(q2 + q3)*c3*c5*c6*s2*s4)/2 - (sin(q2 + q3)*c2*c3*c5*c6*s4)/2 - cos(q2 + q3)*c2*c3*c5*s5*s6 + (sin(q2 + q3)*c5*c6*s2*s3*s4)/2 + cos(q2 + q3)*c5*s2*s3*s5*s6 - cos(q2 + q3)*c2*c4*c5^2*s3*s6 - cos(q2 + q3)*c3*c4*c5^2*s2*s6 - sin(q2 + q3)*c2*c3*c4*c5^2*s6 + sin(q2 + q3)*c4*c5^2*s2*s3*s6 + sin(q2 + q3)*c2*c4*c6*s3*s4*s5 + sin(q2 + q3)*c3*c4*c6*s2*s4*s5 + sin(q2 + q3)*c2*c4^2*c5*s3*s5*s6 + sin(q2 + q3)*c3*c4^2*c5*s2*s5*s6) + dq6*(c2*c6*s3*s4 + c3*c6*s2*s4 + c2*c3*s5*s6 - s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6) + dq4*(c2*c4*c5^2*s3*s6 + c3*c4*c5^2*s2*s6 + c2*c5*c6*s3*s4 + c3*c5*c6*s2*s4 + c2*c3*c5*s5*s6 - c5*s2*s3*s5*s6)) - ddq6r*(c2*c3*c6*s5 - c2*s3*s4*s6 - c3*s2*s4*s6 - c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2) - ddq2r*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + 2*c2*c4^2*s3*s5*s6 + 2*c3*c4^2*s2*s5*s6 + 2*c5^2*c6*s2*s3*s4 - c2*c3*c4*c5*s6 + c4*c5*s2*s3*s6 - 2*c2*c3*c5^2*c6*s4 + 2*c2*c4*c5*c6*s3*s4*s5 + 2*c3*c4*c5*c6*s2*s4*s5) - ddq3r*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + 2*c2*c4^2*s3*s5*s6 + 2*c3*c4^2*s2*s5*s6 + 2*c5^2*c6*s2*s3*s4 - c2*c3*c4*c5*s6 + c4*c5*s2*s3*s6 - 2*c2*c3*c5^2*c6*s4 + 2*c2*c4*c5*c6*s3*s4*s5 + 2*c3*c4*c5*c6*s2*s4*s5) + dq2r*(dq4*(2*c2*c5*c6*s3*s5 + 2*c3*c5*c6*s2*s5 + 2*c2*c4*s3*s4*s5*s6 + 2*c3*c4*s2*s4*s5*s6 - 2*c2*c4^2*c5*c6*s3*s5 - 2*c3*c4^2*c5*c6*s2*s5) + dq1*((3*cos(2*q2 + 2*q3 + 2*q5 - q6))/16 - (3*cos(2*q2 + 2*q3 - 2*q5 - q6))/16 - cos(2*q2 + 2*q3 + q4 + q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + q6)/8 - cos(2*q2 + 2*q3 - q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - cos(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + cos(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 - cos(2*q2 + 2*q3 + q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q5 + q6))/16 + cos(2*q2 + 2*q3 + q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 - cos(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 + cos(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32) + dq6*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - c2*c3*c5^2*s4*s6 - c2*c4^2*c6*s3*s5 - c3*c4^2*c6*s2*s5 + c5^2*s2*s3*s4*s6 + c2*c4*c5*s3*s4*s5*s6 + c3*c4*c5*s2*s4*s5*s6) - dq5*(c2*c4^2*c5*s3*s6 + c3*c4^2*c5*s2*s6 - c2*c4*c6*s3*s4 - c3*c4*c6*s2*s4 + c2*c3*c4*s5*s6 - c4*s2*s3*s5*s6 + 2*c2*c3*c5*c6*s4*s5 - 2*c5*c6*s2*s3*s4*s5 + 2*c2*c4*c5^2*c6*s3*s4 + 2*c3*c4*c5^2*c6*s2*s4) - dq2*(s2*s3*s5*s6 - c3*c6*s2*s4 - c2*c3*s5*s6 - c2*c6*s3*s4 + 2*c2*c3*c4^2*s5*s6 + 2*c2*c5^2*c6*s3*s4 + 2*c3*c5^2*c6*s2*s4 - 2*c4^2*s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6 + 2*c2*c3*c4*c5*c6*s4*s5 - 2*c4*c5*c6*s2*s3*s4*s5) - dq3*(s2*s3*s5*s6 - c3*c6*s2*s4 - c2*c3*s5*s6 - c2*c6*s3*s4 + 2*c2*c3*c4^2*s5*s6 + 2*c2*c5^2*c6*s3*s4 + 2*c3*c5^2*c6*s2*s4 - 2*c4^2*s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6 + 2*c2*c3*c4*c5*c6*s4*s5 - 2*c4*c5*c6*s2*s3*s4*s5));
Y(1,20) =ddq4r*(2*c2*c4*c5^2*s3*s6 - c3*c4*s2*s6 - c2*c4*s3*s6 + 2*c3*c4*c5^2*s2*s6 + c2*c5*c6*s3*s4 + c3*c5*c6*s2*s4 + 2*c2*c3*c5*s5*s6 - 2*c5*s2*s3*s5*s6) - dq2r*(dq2*(c2*s3*s4*s6 - c2*c3*c6*s5 + c3*s2*s4*s6 + c6*s2*s3*s5 - 2*c2*c5^2*s3*s4*s6 - 2*c3*c5^2*s2*s4*s6 - 2*c4^2*c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2 + 2*c2*c3*c4^2*c6*s5 - 2*c2*c3*c4*c5*s4*s5*s6 + 2*c4*c5*s2*s3*s4*s5*s6) - dq6*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) - dq4*(2*c2*c4*c6*s3*s4*s5 - 2*c3*c5*s2*s5*s6 - 2*c2*c5*s3*s5*s6 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) + dq3*(c2*s3*s4*s6 - c2*c3*c6*s5 + c3*s2*s4*s6 + c6*s2*s3*s5 - 2*c2*c5^2*s3*s4*s6 - 2*c3*c5^2*s2*s4*s6 - 2*c4^2*c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2 + 2*c2*c3*c4^2*c6*s5 - 2*c2*c3*c4*c5*s4*s5*s6 + 2*c4*c5*s2*s3*s4*s5*s6) + dq5*(c2*c3*c4*c6*s5 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 - c4*c6*s2*s3*s5 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6) + dq1*((3*sin(2*q2 + 2*q3 - 2*q5 - q6))/16 - (3*sin(2*q2 + 2*q3 + 2*q5 - q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 - q6)/8 + sin(2*q2 + 2*q3 + q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*sin(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*sin(2*q2 + 2*q3 + 2*q5 + q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32)) - dq5r*(dq4*(c2*c3*s6 - s2*s3*s6 - 2*c2*c3*c5^2*s6 + 2*c5^2*s2*s3*s6 + 2*c2*c4*c5*s3*s5*s6 + 2*c3*c4*c5*s2*s5*s6) + dq2*(c2*c3*c4*c6*s5 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 - c4*c6*s2*s3*s5 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6) + dq3*(c2*c3*c4*c6*s5 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 - c4*c6*s2*s3*s5 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6) - dq1*(cos(q2 + q3)*c2*c3*s6 - cos(q2 + q3)*s2*s3*s6 - 2*cos(q2 + q3)*c2*c3*c5^2*s6 - sin(q2 + q3)*c2*c4^2*s3*s6 - sin(q2 + q3)*c3*c4^2*s2*s6 + 2*cos(q2 + q3)*c5^2*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2*s6 + (cos(q2 + q3)*c2*c6*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c6*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c6*s4*s5)/2 - (sin(q2 + q3)*c6*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*c6*s3*s4 + sin(q2 + q3)*c3*c4*c5*c6*s2*s4 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5*s6 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5*s6 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5*s6 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5*s6) + dq5*(c2*c3*c6*s5 - c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2)) + dq1r*(dq6*((cos(q2 + q3)*c2*c4*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6)/2 - (sin(q2 + q3)*c4*c6*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*c6*s5 + (cos(q2 + q3)*c2*c5*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s6)/2 + cos(q2 + q3)*c5*c6*s2*s3*s5 - (sin(q2 + q3)*c5*s2*s3*s4*s6)/2 - cos(q2 + q3)*c2*c4*c5^2*c6*s3 - cos(q2 + q3)*c3*c4*c5^2*c6*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6 + sin(q2 + q3)*c4*c5^2*c6*s2*s3 - sin(q2 + q3)*c2*c4*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*s2*s4*s5*s6 + sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5) - dq4*((cos(q2 + q3)*c2*s3*s4*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s6)/2 + sin(q2 + q3)*c2*c6*s3*s5 + sin(q2 + q3)*c3*c6*s2*s5 - (sin(q2 + q3)*s2*s3*s4*s6)/2 + (cos(q2 + q3)*c2*c4*c5*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c5*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5*c6)/2 - (sin(q2 + q3)*c4*c5*c6*s2*s3)/2 - cos(q2 + q3)*c2*c5^2*s3*s4*s6 - cos(q2 + q3)*c3*c5^2*s2*s4*s6 - sin(q2 + q3)*c2*c3*c5^2*s4*s6 - 2*sin(q2 + q3)*c2*c4^2*c6*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*c6*s2*s5 + sin(q2 + q3)*c5^2*s2*s3*s4*s6 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5*s6 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5*s6) + dq3*(c4*s6 - 2*c2^2*c4*s6 - 2*c3^2*c4*s6 - 2*c4*c5^2*s6 - c5*c6*s4 + 2*c2^2*c5*c6*s4 + 2*c3^2*c5*c6*s4 + 4*c2^2*c3^2*c4*s6 + 4*c2^2*c4*c5^2*s6 + 4*c3^2*c4*c5^2*s6 - 4*c2^2*c3^2*c5*c6*s4 - 8*c2^2*c3^2*c4*c5^2*s6 - 2*c2*c5*s2*s5*s6 - 2*c3*c5*s3*s5*s6 - 4*c2*c3*c4*s2*s3*s6 - 2*c2*c4*c6*s2*s4*s5 - 2*c3*c4*c6*s3*s4*s5 + 4*c2*c3^2*c5*s2*s5*s6 - 2*c2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c5*s3*s5*s6 - 2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3^2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3*c5*c6*s2*s3*s4 + 8*c2*c3*c4*c5^2*s2*s3*s6 + 4*c2*c3^2*c4*c6*s2*s4*s5 + 4*c2^2*c3*c4*c6*s3*s4*s5) + dq5*(cos(q2 + q3)*c2*c3*s6 - cos(q2 + q3)*s2*s3*s6 - 2*cos(q2 + q3)*c2*c3*c5^2*s6 - sin(q2 + q3)*c2*c4^2*s3*s6 - sin(q2 + q3)*c3*c4^2*s2*s6 + 2*cos(q2 + q3)*c5^2*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2*s6 + (cos(q2 + q3)*c2*c6*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c6*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c6*s4*s5)/2 - (sin(q2 + q3)*c6*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*c6*s3*s4 + sin(q2 + q3)*c3*c4*c5*c6*s2*s4 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5*s6 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5*s6 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5*s6 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5*s6) - dq2*((3*sin(2*q2 + 2*q3 - 2*q5 - q6))/16 - (3*sin(2*q2 + 2*q3 + 2*q5 - q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 - q6)/8 + sin(2*q2 + 2*q3 + q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*sin(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*sin(2*q2 + 2*q3 + 2*q5 + q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32)) + ddq1r*(cos(q2 + q3)*c2*c4*s3*s6 + cos(q2 + q3)*c3*c4*s2*s6 + sin(q2 + q3)*c2*c3*c4*s6 - sin(q2 + q3)*c4*s2*s3*s6 - cos(q2 + q3)*c2*c5*c6*s3*s4 - cos(q2 + q3)*c3*c5*c6*s2*s4 - sin(q2 + q3)*c2*c3*c5*c6*s4 - 2*cos(q2 + q3)*c2*c3*c5*s5*s6 + sin(q2 + q3)*c5*c6*s2*s3*s4 + 2*cos(q2 + q3)*c5*s2*s3*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5^2*s3*s6 - 2*cos(q2 + q3)*c3*c4*c5^2*s2*s6 - 2*sin(q2 + q3)*c2*c3*c4*c5^2*s6 + 2*sin(q2 + q3)*c4*c5^2*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4*c6*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c6*s2*s4*s5 + 2*sin(q2 + q3)*c2*c4^2*c5*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*s2*s5*s6) + dq3r*(dq1*(c4*s6 - 2*c2^2*c4*s6 - 2*c3^2*c4*s6 - 2*c4*c5^2*s6 - c5*c6*s4 + 2*c2^2*c5*c6*s4 + 2*c3^2*c5*c6*s4 + 4*c2^2*c3^2*c4*s6 + 4*c2^2*c4*c5^2*s6 + 4*c3^2*c4*c5^2*s6 - 4*c2^2*c3^2*c5*c6*s4 - 8*c2^2*c3^2*c4*c5^2*s6 - 2*c2*c5*s2*s5*s6 - 2*c3*c5*s3*s5*s6 - 4*c2*c3*c4*s2*s3*s6 - 2*c2*c4*c6*s2*s4*s5 - 2*c3*c4*c6*s3*s4*s5 + 4*c2*c3^2*c5*s2*s5*s6 - 2*c2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c5*s3*s5*s6 - 2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3^2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3*c5*c6*s2*s3*s4 + 8*c2*c3*c4*c5^2*s2*s3*s6 + 4*c2*c3^2*c4*c6*s2*s4*s5 + 4*c2^2*c3*c4*c6*s3*s4*s5) + dq4*(2*c2*c4*c6*s3*s4*s5 - 2*c3*c5*s2*s5*s6 - 2*c2*c5*s3*s5*s6 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) + dq6*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) - dq2*(c2*s3*s4*s6 - c2*c3*c6*s5 + c3*s2*s4*s6 + c6*s2*s3*s5 - 2*c2*c5^2*s3*s4*s6 - 2*c3*c5^2*s2*s4*s6 - 2*c4^2*c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2 + 2*c2*c3*c4^2*c6*s5 - 2*c2*c3*c4*c5*s4*s5*s6 + 2*c4*c5*s2*s3*s4*s5*s6) - dq3*(c2*s3*s4*s6 - c2*c3*c6*s5 + c3*s2*s4*s6 + c6*s2*s3*s5 - 2*c2*c5^2*s3*s4*s6 - 2*c3*c5^2*s2*s4*s6 - 2*c4^2*c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2 + 2*c2*c3*c4^2*c6*s5 - 2*c2*c3*c4*c5*s4*s5*s6 + 2*c4*c5*s2*s3*s4*s5*s6) - dq5*(c2*c3*c4*c6*s5 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 - c4*c6*s2*s3*s5 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6)) + ddq2r*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - 2*c2*c3*c5^2*s4*s6 - 2*c2*c4^2*c6*s3*s5 - 2*c3*c4^2*c6*s2*s5 + 2*c5^2*s2*s3*s4*s6 + c2*c3*c4*c5*c6 - c4*c5*c6*s2*s3 + 2*c2*c4*c5*s3*s4*s5*s6 + 2*c3*c4*c5*s2*s4*s5*s6) + ddq3r*(c2*c3*s4*s6 + c2*c6*s3*s5 + c3*c6*s2*s5 - s2*s3*s4*s6 - 2*c2*c3*c5^2*s4*s6 - 2*c2*c4^2*c6*s3*s5 - 2*c3*c4^2*c6*s2*s5 + 2*c5^2*s2*s3*s4*s6 + c2*c3*c4*c5*c6 - c4*c5*c6*s2*s3 + 2*c2*c4*c5*s3*s4*s5*s6 + 2*c3*c4*c5*s2*s4*s5*s6) + dq6r*(dq1*((cos(q2 + q3)*c2*c4*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6)/2 - (sin(q2 + q3)*c4*c6*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*c6*s5 + (cos(q2 + q3)*c2*c5*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s6)/2 + cos(q2 + q3)*c5*c6*s2*s3*s5 - (sin(q2 + q3)*c5*s2*s3*s4*s6)/2 - cos(q2 + q3)*c2*c4*c5^2*c6*s3 - cos(q2 + q3)*c3*c4*c5^2*c6*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6 + sin(q2 + q3)*c4*c5^2*c6*s2*s3 - sin(q2 + q3)*c2*c4*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*s2*s4*s5*s6 + sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5) + dq2*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) + dq3*(c2*c3*c6*s4 - c6*s2*s3*s4 - c2*s3*s5*s6 - c3*s2*s5*s6 + c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) + dq6*(c2*c3*c6*s5 - c2*s3*s4*s6 - c3*s2*s4*s6 - c6*s2*s3*s5 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2) + dq4*(c2*c3*c5*c6*s5 - c2*c5*s3*s4*s6 - c3*c5*s2*s4*s6 - c5*c6*s2*s3*s5 + c2*c4*c5^2*c6*s3 + c3*c4*c5^2*c6*s2)) + dq4r*(dq4*(c2*s3*s4*s6 + c3*s2*s4*s6 - 2*c2*c5^2*s3*s4*s6 - 2*c3*c5^2*s2*s4*s6 + c2*c4*c5*c6*s3 + c3*c4*c5*c6*s2) - dq1*((cos(q2 + q3)*c2*s3*s4*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s6)/2 + sin(q2 + q3)*c2*c6*s3*s5 + sin(q2 + q3)*c3*c6*s2*s5 - (sin(q2 + q3)*s2*s3*s4*s6)/2 + (cos(q2 + q3)*c2*c4*c5*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c5*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5*c6)/2 - (sin(q2 + q3)*c4*c5*c6*s2*s3)/2 - cos(q2 + q3)*c2*c5^2*s3*s4*s6 - cos(q2 + q3)*c3*c5^2*s2*s4*s6 - sin(q2 + q3)*c2*c3*c5^2*s4*s6 - 2*sin(q2 + q3)*c2*c4^2*c6*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*c6*s2*s5 + sin(q2 + q3)*c5^2*s2*s3*s4*s6 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5*s6 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5*s6) + dq2*(2*c2*c4*c6*s3*s4*s5 - 2*c3*c5*s2*s5*s6 - 2*c2*c5*s3*s5*s6 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) + dq3*(2*c2*c4*c6*s3*s4*s5 - 2*c3*c5*s2*s5*s6 - 2*c2*c5*s3*s5*s6 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) - dq5*(c2*c3*s6 - s2*s3*s6 - 2*c2*c3*c5^2*s6 + 2*c5^2*s2*s3*s6 + 2*c2*c4*c5*s3*s5*s6 + 2*c3*c4*c5*s2*s5*s6) + dq6*(c2*c3*c5*c6*s5 - c2*c5*s3*s4*s6 - c3*c5*s2*s4*s6 - c5*c6*s2*s3*s5 + c2*c4*c5^2*c6*s3 + c3*c4*c5^2*c6*s2)) + ddq6r*(c2*c6*s3*s4 + c3*c6*s2*s4 + c2*c3*s5*s6 - s2*s3*s5*s6 + c2*c4*c5*s3*s6 + c3*c4*c5*s2*s6) - ddq5r*(c5*c6*s2*s3 - c2*c3*c5*c6 + c2*c4*c6*s3*s5 + c3*c4*c6*s2*s5);
Y(1,21) =ddq4r*(c5^2*s2*s3 - c2*c3*c5^2 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5) + ddq2r*(c2*c4*s3*s4 + c3*c4*s2*s4 - c2*c4*c5^2*s3*s4 - c3*c4*c5^2*s2*s4 - c2*c3*c5*s4*s5 + c5*s2*s3*s4*s5) + ddq3r*(c2*c4*s3*s4 + c3*c4*s2*s4 - c2*c4*c5^2*s3*s4 - c3*c4*c5^2*s2*s4 - c2*c3*c5*s4*s5 + c5*s2*s3*s4*s5) + dq1r*(dq5*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq4*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c4*s3*s4 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) - dq2*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 - sin(2*q2 + 2*q3 - 2*q4)/16 - sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 + sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) + dq3*(c2*c5^2*s2 - c2*c4^2*s2 - c3*c4^2*s3 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 + 2*c2*c3^2*c4^2*s2 - 2*c2*c3^2*c5^2*s2 + 2*c2^2*c3*c4^2*s3 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5)) + dq4r*(dq1*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c4*s3*s4 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) + dq2*(c2*c4^2*s3 - sin(q2 + q3)/2 + c3*c4^2*s2 + c2*c5^2*s3 + c3*c5^2*s2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2) + dq3*(c2*c4^2*s3 - sin(q2 + q3)/2 + c3*c4^2*s2 + c2*c5^2*s3 + c3*c5^2*s2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2) - dq4*(c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5) - dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5) - dq6*((c2*s3*s4*s5)/2 + (c3*s2*s4*s5)/2)) + dq2r*(dq2*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) - dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 - sin(2*q2 + 2*q3 - 2*q4)/16 - sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 + sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) + dq4*(c2*c4^2*s3 - sin(q2 + q3)/2 + c3*c4^2*s2 + c2*c5^2*s3 + c3*c5^2*s2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2) + dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq6*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2)) + ddq6r*(c5*s2*s3 - c2*c3*c5 + c2*c4*s3*s5 + c3*c4*s2*s5) - ddq1r*(cos(q2 + q3)*c5^2*s2*s3 - sin(q2 + q3)*c3*c4^2*s2 - sin(q2 + q3)*c2*c4^2*s3 - cos(q2 + q3)*c2*c3*c5^2 + sin(q2 + q3)*c2*c4^2*c5^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*s2 + cos(q2 + q3)*c2*c4*c5*s3*s5 + cos(q2 + q3)*c3*c4*c5*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*s5 - sin(q2 + q3)*c4*c5*s2*s3*s5) + dq3r*(dq2*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq4*(c2*c4^2*s3 - sin(q2 + q3)/2 + c3*c4^2*s2 + c2*c5^2*s3 + c3*c5^2*s2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2) + dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq1*(c2*c5^2*s2 - c2*c4^2*s2 - c3*c4^2*s3 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 + 2*c2*c3^2*c4^2*s2 - 2*c2*c3^2*c5^2*s2 + 2*c2^2*c3*c4^2*s3 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5) + dq6*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2)) + dq5r*(dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq2*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq3*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq6*((c2*c3*s5)/2 - (s2*s3*s5)/2 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5)) + dq6r*(dq2*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2) + dq3*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2) + dq5*((c2*c3*s5)/2 - (s2*s3*s5)/2 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2) - dq4*((c2*s3*s4*s5)/2 + (c3*s2*s4*s5)/2));
Y(1,22) =0;
Y(1,23) =ddq1r;
Y(1,24) =(3*ddq1r*c2)/10 - (3*dq1*dq2r*s2)/20 - (3*dq2*dq1r*s2)/20;
Y(1,25) =(dq1*dq2r*sin(2*q2))/2 - ddq1r*(c2^2 - 1) + (dq2*dq1r*sin(2*q2))/2;
Y(1,26) =- ddq2r*s2 - dq2*dq2r*c2;
Y(1,27) =0;
Y(1,28) =ddq1r*((3*cos(q2 + q3))/10 + (59*cos(q2 + q3)*c2)/50) - dq1r*(dq2*((59*sin(2*q2 + q3))/100 + (3*sin(q2 + q3))/20) + dq3*((3*c2*s3)/20 + (3*c3*s2)/20 + (59*c2^2*s3)/100 + (59*c2*c3*s2)/100)) - dq1*dq2r*((59*sin(2*q2 + q3))/100 + (3*sin(q2 + q3))/20) - dq1*dq3r*((3*c2*s3)/20 + (3*c3*s2)/20 + (59*c2^2*s3)/100 + (59*c2*c3*s2)/100);
Y(1,29) =- ddq1r*((3*sin(q2 + q3))/10 + (59*sin(q2 + q3)*c2)/50) - dq1r*(dq2*((59*cos(2*q2 + q3))/100 + (3*cos(q2 + q3))/20) + dq3*((3*c2*c3)/20 - (3*s2*s3)/20 + (59*c2^2*c3)/100 - (59*c2*s2*s3)/100)) - dq1*dq3r*((3*c2*c3)/20 - (3*s2*s3)/20 + (59*c2^2*c3)/100 - (59*c2*s2*s3)/100) - dq1*dq2r*((59*cos(2*q2 + q3))/100 + (3*cos(q2 + q3))/20);
Y(1,30) =dq1r*((dq2*sin(2*q2 + 2*q3))/2 - dq3*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3)) - ddq1r*(cos(q2 + q3)^2 - 1) - dq1*dq3r*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3) + (dq1*dq2r*sin(2*q2 + 2*q3))/2;
Y(1,31) =dq1r*(dq2*cos(2*q2 + 2*q3) - dq3*(2*c2^2 + 2*c3^2 - 4*c2^2*c3^2 + 4*c2*c3*s2*s3 - 1)) + ddq1r*sin(2*q2 + 2*q3) - dq1*dq3r*(2*c2^2 + 2*c3^2 - 4*c2^2*c3^2 + 4*c2*c3*s2*s3 - 1) + dq1*dq2r*cos(2*q2 + 2*q3);
Y(1,32) =0;
Y(1,33) =ddq2r*((59*c4*s2)/100 + (13*c2*c4*s3)/100 + (13*c3*c4*s2)/100) + ddq1r*((3*cos(q2 + q3)*s4)/20 - (3*s2*s3*s4)/20 + (59*c2^2*c3*s4)/100 + (59*cos(q2 + q3)*c2*s4)/100 + (3*c2*c3*s4)/20 + (13*cos(q2 + q3)*c2*c3*s4)/50 - (13*cos(q2 + q3)*s2*s3*s4)/50 - (59*c2*s2*s3*s4)/100) + dq1r*(dq4*((59*c2^2*c3*c4)/100 + (3*c2*c3*c4)/20 - (3*c4*s2*s3)/20 + (13*cos(q2 + q3)*c2*c3*c4)/100 - (13*cos(q2 + q3)*c4*s2*s3)/100 - (59*c2*c4*s2*s3)/100) + dq2*((3*cos(q2 + q3 + q4))/40 - (13*cos(2*q2 + 2*q3 - q4))/200 - (3*cos(q2 + q3 - q4))/40 + (59*cos(2*q2 + q3 + q4))/200 - (59*cos(2*q2 + q3 - q4))/200 + (13*cos(2*q2 + 2*q3 + q4))/200) - dq3*((59*c2^2*s3*s4)/100 - (13*c2*s2*s4)/50 + (3*c2*s3*s4)/20 + (3*c3*s2*s4)/20 - (13*c3*s3*s4)/50 + (13*c2*c3^2*s2*s4)/25 + (13*c2^2*c3*s3*s4)/25 + (59*c2*c3*s2*s4)/100)) + dq2r*(dq2*((59*c2*c4)/100 + (13*c2*c3*c4)/100 - (13*c4*s2*s3)/100) + dq1*((3*cos(q2 + q3 + q4))/40 - (13*cos(2*q2 + 2*q3 - q4))/200 - (3*cos(q2 + q3 - q4))/40 + (59*cos(2*q2 + q3 + q4))/200 - (59*cos(2*q2 + q3 - q4))/200 + (13*cos(2*q2 + 2*q3 + q4))/200) + dq3*((13*c2*c3*c4)/100 - (13*c4*s2*s3)/100)) - ddq4r*((3*s4)/20 + (59*c2*s4)/100 - (13*s2*s3*s4)/100 + (13*c2*c3*s4)/100) + dq4r*(dq1*((59*c2^2*c3*c4)/100 + (3*c2*c3*c4)/20 - (3*c4*s2*s3)/20 + (13*cos(q2 + q3)*c2*c3*c4)/100 - (13*cos(q2 + q3)*c4*s2*s3)/100 - (59*c2*c4*s2*s3)/100) - dq4*((3*c4)/20 + (59*c2*c4)/100 + (13*c2*c3*c4)/100 - (13*c4*s2*s3)/100)) + dq3r*(dq2*((13*c2*c3*c4)/100 - (13*c4*s2*s3)/100) - dq1*((59*c2^2*s3*s4)/100 - (13*c2*s2*s4)/50 + (3*c2*s3*s4)/20 + (3*c3*s2*s4)/20 - (13*c3*s3*s4)/50 + (13*c2*c3^2*s2*s4)/25 + (13*c2^2*c3*s3*s4)/25 + (59*c2*c3*s2*s4)/100) + dq3*((13*c2*c3*c4)/100 - (13*c4*s2*s3)/100)) + c2*(c3*c4*((981*c2*s3)/100 + (981*c3*s2)/100) - c4*s3*((981*c2*c3)/100 - (981*s2*s3)/100)) - s2*(c3*c4*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*s3*((981*c2*s3)/100 + (981*c3*s2)/100)) + ddq3r*((13*c2*c4*s3)/100 + (13*c3*c4*s2)/100);
Y(1,34) =dq3r*(dq2*((cos(q2 + q3 + q4)*s4)/2 + (cos(q2 + q3 - q4)*s4)/2) + dq3*((cos(q2 + q3 + q4)*s4)/2 + (cos(q2 + q3 - q4)*s4)/2) - dq1*(c2*c4^2*s2 + c3*c4^2*s3 - 2*c2*c3^2*c4^2*s2 - 2*c2^2*c3*c4^2*s3) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) - dq4r*(dq1*((sin(q2 + q3 + q4)*sin(q2 + q3)*s4)/4 + (cos(q2 + q3 - q4)*sin(q2 + q3)*c4)/4 + (sin(q2 + q3 - q4)*sin(q2 + q3)*s4)/4 - (cos(q2 + q3 + q4)*sin(q2 + q3)*c4)/4) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) - dq1r*(dq4*((sin(q2 + q3 + q4)*sin(q2 + q3)*s4)/4 + (cos(q2 + q3 - q4)*sin(q2 + q3)*c4)/4 + (sin(q2 + q3 - q4)*sin(q2 + q3)*s4)/4 - (cos(q2 + q3 + q4)*sin(q2 + q3)*c4)/4) - dq2*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 + sin(2*q2 + 2*q3)/4) + dq3*(c2*c4^2*s2 + c3*c4^2*s3 - 2*c2*c3^2*c4^2*s2 - 2*c2^2*c3*c4^2*s3)) + ddq2r*((sin(q2 + q3 + q4)*s4)/2 + (sin(q2 + q3 - q4)*s4)/2) + ddq3r*((sin(q2 + q3 + q4)*s4)/2 + (sin(q2 + q3 - q4)*s4)/2) + ddq1r*((sin(q2 + q3 + q4)*sin(q2 + q3)*c4)/2 + (sin(q2 + q3 - q4)*sin(q2 + q3)*c4)/2) + dq2r*(dq2*((cos(q2 + q3 + q4)*s4)/2 + (cos(q2 + q3 - q4)*s4)/2) + dq3*((cos(q2 + q3 + q4)*s4)/2 + (cos(q2 + q3 - q4)*s4)/2) + dq1*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 + sin(2*q2 + 2*q3)/4) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2));
Y(1,35) =dq3r*(dq4*((c2*s3)/2 + (c3*s2)/2) + dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3)) - dq1r*((dq2*sin(2*q2 + 2*q3))/2 - dq3*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3)) - ddq4r*cos(q2 + q3) - dq2r*((dq1*sin(2*q2 + 2*q3))/2 - dq4*((c2*s3)/2 + (c3*s2)/2)) + ddq1r*cos(q2 + q3)^2 + dq4r*(dq2*((c2*s3)/2 + (c3*s2)/2) + dq3*((c2*s3)/2 + (c3*s2)/2));
Y(1,36) =dq2r*(dq2*(c2*c4*s3 + c3*c4*s2) - dq1*(sin(2*q2 + 2*q3 - q4)/2 - sin(2*q2 + 2*q3 + q4)/2) + dq3*(c2*c4*s3 + c3*c4*s2)) - ddq4r*(c2*s3*s4 + c3*s2*s4) - dq1r*(dq2*(sin(2*q2 + 2*q3 - q4)/2 - sin(2*q2 + 2*q3 + q4)/2) - dq4*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2) + dq3*(2*c2^2*s4 - s4 + 2*c3^2*s4 - 4*c2^2*c3^2*s4 + 4*c2*c3*s2*s3*s4)) + dq4r*(dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2) - dq4*(c2*c4*s3 + c3*c4*s2)) + ddq1r*(cos(q2 + q3)*c2*s3*s4 + cos(q2 + q3)*c3*s2*s4 + sin(q2 + q3)*c2*c3*s4 - sin(q2 + q3)*s2*s3*s4) + dq3r*(dq2*(c2*c4*s3 + c3*c4*s2) - dq1*(2*c2^2*s4 - s4 + 2*c3^2*s4 - 4*c2^2*c3^2*s4 + 4*c2*c3*s2*s3*s4) + dq3*(c2*c4*s3 + c3*c4*s2)) - ddq2r*(c2*c3*c4 - c4*s2*s3) - ddq3r*(c2*c3*c4 - c4*s2*s3);
Y(1,37) =dq5r*(dq4*((3*c4*c5)/20 + (59*c2*c4*c5)/100 + (13*c2*c3*c4*c5)/100 - (64707*c2*c4*c5*s3)/100000 - (64707*c3*c4*c5*s2)/100000 - (13*c4*c5*s2*s3)/100) + dq1*((59*c2^2*s3*s5)/200 + (59*sin(q2 + q3)*c2*s5)/200 + (3*c2*s3*s5)/20 + (3*c3*s2*s5)/20 - (59*c2^2*c3*c4*c5)/200 - (59*cos(q2 + q3)*c2*c4*c5)/200 + (13*cos(q2 + q3)*c2*s3*s5)/200 + (13*cos(q2 + q3)*c3*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*s5)/200 - (3*c2*c3*c4*c5)/20 - (64707*sin(q2 + q3)*c2*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*s2*s5)/100000 - (13*sin(q2 + q3)*s2*s3*s5)/200 + (59*c2*c3*s2*s5)/200 + (3*c4*c5*s2*s3)/20 - (13*cos(q2 + q3)*c2*c3*c4*c5)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3)/200000 + (59*c2*c4*c5*s2*s3)/200) - dq5*((3*s4*s5)/20 + (59*c2*s4*s5)/100 + (13*c2*c3*s4*s5)/100 - (64707*c2*s3*s4*s5)/100000 - (64707*c3*s2*s4*s5)/100000 - (13*s2*s3*s4*s5)/100)) - c2*(s3*(s4*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - c4*c5*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) - c3*s4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) - ddq1r*((3*sin(q2 + q3)*c5)/20 + (59*c2^2*c5*s3)/100 + (59*sin(q2 + q3)*c2*c5)/100 + (3*cos(q2 + q3)*c4*s5)/20 + (3*c2*c5*s3)/20 + (3*c3*c5*s2)/20 + (59*c2^2*c3*c4*s5)/100 + (13*cos(q2 + q3)*c2*c5*s3)/100 + (13*cos(q2 + q3)*c3*c5*s2)/100 + (13*sin(q2 + q3)*c2*c3*c5)/100 + (59*cos(q2 + q3)*c2*c4*s5)/100 - (64707*sin(q2 + q3)*c2*c5*s3)/50000 - (64707*sin(q2 + q3)*c3*c5*s2)/50000 - (13*sin(q2 + q3)*c5*s2*s3)/100 + (59*c2*c3*c5*s2)/100 + (3*c2*c3*c4*s5)/20 - (3*c4*s2*s3*s5)/20 + (13*cos(q2 + q3)*c2*c3*c4*s5)/50 - (64707*cos(q2 + q3)*c2*c4*s3*s5)/100000 - (64707*cos(q2 + q3)*c3*c4*s2*s5)/100000 - (64707*sin(q2 + q3)*c2*c3*c4*s5)/100000 - (13*cos(q2 + q3)*c4*s2*s3*s5)/50 + (64707*sin(q2 + q3)*c4*s2*s3*s5)/100000 - (59*c2*c4*s2*s3*s5)/100) - s2*(c3*(s4*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - c4*c5*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + s3*s4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + ddq4r*((3*c4*s5)/20 + (59*c2*c4*s5)/100 + (13*c2*c3*c4*s5)/100 - (64707*c2*c4*s3*s5)/100000 - (64707*c3*c4*s2*s5)/100000 - (13*c4*s2*s3*s5)/100) + ddq5r*((3*c5*s4)/20 + (59*c2*c5*s4)/100 + (13*c2*c3*c5*s4)/100 - (64707*c2*c5*s3*s4)/100000 - (64707*c3*c5*s2*s4)/100000 - (13*c5*s2*s3*s4)/100) + dq4r*(dq5*((3*c4*c5)/20 + (59*c2*c4*c5)/100 + (13*c2*c3*c4*c5)/100 - (64707*c2*c4*c5*s3)/100000 - (64707*c3*c4*c5*s2)/100000 - (13*c4*c5*s2*s3)/100) + dq1*((3*cos(q2 + q3)*s4*s5)/40 + (59*c2^2*c3*s4*s5)/200 + (59*cos(q2 + q3)*c2*s4*s5)/200 + (3*c2*c3*s4*s5)/40 - (3*s2*s3*s4*s5)/40 + (13*cos(q2 + q3)*c2*c3*s4*s5)/100 - (64707*cos(q2 + q3)*c2*s3*s4*s5)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s5)/200000 - (13*cos(q2 + q3)*s2*s3*s4*s5)/100 + (64707*sin(q2 + q3)*s2*s3*s4*s5)/200000 - (59*c2*s2*s3*s4*s5)/200) - dq4*((3*s4*s5)/20 + (59*c2*s4*s5)/100 + (13*c2*c3*s4*s5)/100 - (64707*c2*s3*s4*s5)/100000 - (64707*c3*s2*s4*s5)/100000 - (13*s2*s3*s4*s5)/100)) + dq1r*(dq3*((64707*c4*s5)/100000 - (13*c5)/100 + (13*c2^2*c5)/50 + (13*c3^2*c5)/50 - (59*c2^2*c3*c5)/100 - (64707*c2^2*c4*s5)/50000 - (64707*c3^2*c4*s5)/50000 - (13*c2^2*c3^2*c5)/25 - (3*c2*c3*c5)/20 - (64707*c2*c5*s2)/50000 - (64707*c3*c5*s3)/50000 + (3*c5*s2*s3)/20 + (64707*c2*c3^2*c5*s2)/25000 + (64707*c2^2*c3*c5*s3)/25000 + (59*c2^2*c4*s3*s5)/100 + (64707*c2^2*c3^2*c4*s5)/25000 + (59*c2*c5*s2*s3)/100 - (13*c2*c4*s2*s5)/50 + (3*c2*c4*s3*s5)/20 + (3*c3*c4*s2*s5)/20 - (13*c3*c4*s3*s5)/50 + (13*c2*c3^2*c4*s2*s5)/25 + (13*c2^2*c3*c4*s3*s5)/25 + (13*c2*c3*c5*s2*s3)/25 + (59*c2*c3*c4*s2*s5)/100 - (64707*c2*c3*c4*s2*s3*s5)/25000) - dq2*((64707*sin(2*q2 + 2*q3 - q4 - q5))/400000 - (13*cos(2*q2 + 2*q3 - q4 - q5))/400 + (3*cos(q2 + q3 + q5))/40 + (13*cos(2*q2 + 2*q3 - q5))/200 - (64707*sin(2*q2 + 2*q3 - q5))/200000 - (3*cos(q2 + q3 - q4 - q5))/80 - (59*cos(2*q2 + q3 + q4 - q5))/400 + (59*cos(2*q2 + q3 - q4 + q5))/400 + (13*cos(2*q2 + 2*q3 + q4 + q5))/400 - (64707*sin(2*q2 + 2*q3 + q4 + q5))/400000 + (3*cos(q2 + q3 - q5))/40 + (59*cos(2*q2 + q3 + q5))/200 + (3*cos(q2 + q3 + q4 + q5))/80 - (59*cos(2*q2 + q3 - q4 - q5))/400 - (13*cos(2*q2 + 2*q3 + q4 - q5))/400 + (13*cos(2*q2 + 2*q3 - q4 + q5))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q5))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q5))/400000 + (59*cos(2*q2 + q3 - q5))/200 + (13*cos(2*q2 + 2*q3 + q5))/200 - (64707*sin(2*q2 + 2*q3 + q5))/200000 - (3*cos(q2 + q3 + q4 - q5))/80 + (3*cos(q2 + q3 - q4 + q5))/80 + (59*cos(2*q2 + q3 + q4 + q5))/400) + dq5*((59*c2^2*s3*s5)/200 + (59*sin(q2 + q3)*c2*s5)/200 + (3*c2*s3*s5)/20 + (3*c3*s2*s5)/20 - (59*c2^2*c3*c4*c5)/200 - (59*cos(q2 + q3)*c2*c4*c5)/200 + (13*cos(q2 + q3)*c2*s3*s5)/200 + (13*cos(q2 + q3)*c3*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*s5)/200 - (3*c2*c3*c4*c5)/20 - (64707*sin(q2 + q3)*c2*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*s2*s5)/100000 - (13*sin(q2 + q3)*s2*s3*s5)/200 + (59*c2*c3*s2*s5)/200 + (3*c4*c5*s2*s3)/20 - (13*cos(q2 + q3)*c2*c3*c4*c5)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3)/200000 + (59*c2*c4*c5*s2*s3)/200) + dq4*((3*cos(q2 + q3)*s4*s5)/40 + (59*c2^2*c3*s4*s5)/200 + (59*cos(q2 + q3)*c2*s4*s5)/200 + (3*c2*c3*s4*s5)/40 - (3*s2*s3*s4*s5)/40 + (13*cos(q2 + q3)*c2*c3*s4*s5)/100 - (64707*cos(q2 + q3)*c2*s3*s4*s5)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s5)/200000 - (13*cos(q2 + q3)*s2*s3*s4*s5)/100 + (64707*sin(q2 + q3)*s2*s3*s4*s5)/200000 - (59*c2*s2*s3*s4*s5)/200)) - dq2r*(dq1*((64707*sin(2*q2 + 2*q3 - q4 - q5))/400000 - (13*cos(2*q2 + 2*q3 - q4 - q5))/400 + (3*cos(q2 + q3 + q5))/40 + (13*cos(2*q2 + 2*q3 - q5))/200 - (64707*sin(2*q2 + 2*q3 - q5))/200000 - (3*cos(q2 + q3 - q4 - q5))/80 - (59*cos(2*q2 + q3 + q4 - q5))/400 + (59*cos(2*q2 + q3 - q4 + q5))/400 + (13*cos(2*q2 + 2*q3 + q4 + q5))/400 - (64707*sin(2*q2 + 2*q3 + q4 + q5))/400000 + (3*cos(q2 + q3 - q5))/40 + (59*cos(2*q2 + q3 + q5))/200 + (3*cos(q2 + q3 + q4 + q5))/80 - (59*cos(2*q2 + q3 - q4 - q5))/400 - (13*cos(2*q2 + 2*q3 + q4 - q5))/400 + (13*cos(2*q2 + 2*q3 - q4 + q5))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q5))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q5))/400000 + (59*cos(2*q2 + q3 - q5))/200 + (13*cos(2*q2 + 2*q3 + q5))/200 - (64707*sin(2*q2 + 2*q3 + q5))/200000 - (3*cos(q2 + q3 + q4 - q5))/80 + (3*cos(q2 + q3 - q4 + q5))/80 + (59*cos(2*q2 + q3 + q4 + q5))/400) + dq2*((64707*c2*s3*s4*s5)/100000 - (13*c2*c3*s4*s5)/100 - (59*c2*s4*s5)/100 + (64707*c3*s2*s4*s5)/100000 + (13*s2*s3*s4*s5)/100) + dq3*((64707*c2*s3*s4*s5)/100000 - (13*c2*c3*s4*s5)/100 + (64707*c3*s2*s4*s5)/100000 + (13*s2*s3*s4*s5)/100)) + ddq3r*((64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000) + ddq2r*((59*s2*s4*s5)/100 + (64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000) - dq3r*(dq2*((64707*c2*s3*s4*s5)/100000 - (13*c2*c3*s4*s5)/100 + (64707*c3*s2*s4*s5)/100000 + (13*s2*s3*s4*s5)/100) - dq1*((64707*c4*s5)/100000 - (13*c5)/100 + (13*c2^2*c5)/50 + (13*c3^2*c5)/50 - (59*c2^2*c3*c5)/100 - (64707*c2^2*c4*s5)/50000 - (64707*c3^2*c4*s5)/50000 - (13*c2^2*c3^2*c5)/25 - (3*c2*c3*c5)/20 - (64707*c2*c5*s2)/50000 - (64707*c3*c5*s3)/50000 + (3*c5*s2*s3)/20 + (64707*c2*c3^2*c5*s2)/25000 + (64707*c2^2*c3*c5*s3)/25000 + (59*c2^2*c4*s3*s5)/100 + (64707*c2^2*c3^2*c4*s5)/25000 + (59*c2*c5*s2*s3)/100 - (13*c2*c4*s2*s5)/50 + (3*c2*c4*s3*s5)/20 + (3*c3*c4*s2*s5)/20 - (13*c3*c4*s3*s5)/50 + (13*c2*c3^2*c4*s2*s5)/25 + (13*c2^2*c3*c4*s3*s5)/25 + (13*c2*c3*c5*s2*s3)/25 + (59*c2*c3*c4*s2*s5)/100 - (64707*c2*c3*c4*s2*s3*s5)/25000) + dq3*((64707*c2*s3*s4*s5)/100000 - (13*c2*c3*s4*s5)/100 + (64707*c3*s2*s4*s5)/100000 + (13*s2*s3*s4*s5)/100));
Y(1,38) =ddq1r*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 + cos(q2 + q3)*c5^2*s2*s3 - cos(q2 + q3)*c2*c3*c5^2 + sin(q2 + q3)*c2*c4^2*c5^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*s2 + cos(q2 + q3)*c2*c4*c5*s3*s5 + cos(q2 + q3)*c3*c4*c5*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*s5 - sin(q2 + q3)*c4*c5*s2*s3*s5) - ddq4r*(c2*c3 - s2*s3 - c2*c3*c5^2 + c5^2*s2*s3 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5) - dq2r*(dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) - dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4)/16 + sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 - sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) + dq2*(c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq3*(c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c5^2*s3 - c3*c5^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2)) - dq5r*(dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq2*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq3*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5)) + dq4r*(dq4*(c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5) - dq1*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) + dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c5^2*s3 - c3*c5^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c5^2*s3 - c3*c5^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2)) - dq1r*(dq5*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq4*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) - dq2*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4)/16 + sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 - sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) + dq3*(2*c2*c3^2*s2 - c3*s3 - c2*s2 + 2*c2^2*c3*s3 + c2*c5^2*s2 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 - 2*c2*c3^2*c5^2*s2 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5)) + ddq2r*(c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 + c2*c3*c5*s4*s5 - c5*s2*s3*s4*s5) + ddq3r*(c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 + c2*c3*c5*s4*s5 - c5*s2*s3*s4*s5) - dq3r*(dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq2*(c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq3*(c4*c5^2*s2*s3*s4 + c2*c5*s3*s4*s5 + c3*c5*s2*s4*s5 - c2*c3*c4*c5^2*s4) + dq1*(2*c2*c3^2*s2 - c3*s3 - c2*s2 + 2*c2^2*c3*s3 + c2*c5^2*s2 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 - 2*c2*c3^2*c5^2*s2 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c5^2*s3 - c3*c5^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2));
Y(1,39) =dq4r*(dq1*(sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*s2*s4) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) - dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2)) - ddq5r*(c2*s3*s4 + c3*s2*s4) - dq1r*(dq2*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 - sin(2*q2 + 2*q3)/4) - dq4*(sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*s2*s4) + dq3*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - c3*c4^2*s3 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3)) - dq3r*(dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - c3*c4^2*s3 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3) - dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq2*(c2*c3*c4*s4 - c4*s2*s3*s4) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) + dq5r*(dq2*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq3*((s2*s3*s4)/2 - (c2*c3*s4)/2) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2)) + ddq1r*(sin(q2 + q3)*c2*s3 + sin(q2 + q3)*c3*s2 - sin(q2 + q3)*c2*c4^2*s3 - sin(q2 + q3)*c3*c4^2*s2) - ddq2r*(c2*c4*s3*s4 + c3*c4*s2*s4) - ddq3r*(c2*c4*s3*s4 + c3*c4*s2*s4) - dq2r*(dq1*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 - sin(2*q2 + 2*q3)/4) - dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq2*(c2*c3*c4*s4 - c4*s2*s3*s4) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2));
Y(1,40) =ddq2r*(c2*c4*c6^2*s3*s4 - c3*c4*s2*s4 - c2*c4*s3*s4 + c3*c4*c6^2*s2*s4 - c2*c5*c6*s3*s6 - c3*c5*c6*s2*s6 + c2*c4*c5^2*c6^2*s3*s4 + c3*c4*c5^2*c6^2*s2*s4 + c2*c3*c4*c6*s5*s6 - c4*c6*s2*s3*s5*s6 + c2*c3*c5*c6^2*s4*s5 + 2*c2*c4^2*c5*c6*s3*s6 + 2*c3*c4^2*c5*c6*s2*s6 - c5*c6^2*s2*s3*s4*s5) + ddq3r*(c2*c4*c6^2*s3*s4 - c3*c4*s2*s4 - c2*c4*s3*s4 + c3*c4*c6^2*s2*s4 - c2*c5*c6*s3*s6 - c3*c5*c6*s2*s6 + c2*c4*c5^2*c6^2*s3*s4 + c3*c4*c5^2*c6^2*s2*s4 + c2*c3*c4*c6*s5*s6 - c4*c6*s2*s3*s5*s6 + c2*c3*c5*c6^2*s4*s5 + 2*c2*c4^2*c5*c6*s3*s6 + 2*c3*c4^2*c5*c6*s2*s6 - c5*c6^2*s2*s3*s4*s5) + dq4r*(dq4*(c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6 + c2*c5*c6^2*s3*s4*s5 + c3*c5*c6^2*s2*s4*s5) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 - c2*c5^2*c6^2*s3 - c3*c5^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 - c2*c5^2*c6^2*s3 - c3*c5^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq6*(c2*c3*c6*s6 - (c2*s3*s4*s5)/2 - (c3*s2*s4*s5)/2 - c6*s2*s3*s6 + c2*c6^2*s3*s4*s5 + c3*c6^2*s2*s4*s5 + c5^2*c6*s2*s3*s6 - c2*c3*c5^2*c6*s6 + c2*c4*c5*c6*s3*s5*s6 + c3*c4*c5*c6*s2*s5*s6) - dq1*(sin(q2 + q3)*c2*c4*c6^2*s3*s4 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c5*c6*s3*s6 - sin(q2 + q3)*c3*c5*c6*s2*s6 - sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*c6^2*s2*s4 + (cos(q2 + q3)*c2*c4*c6*s3*s5*s6)/2 + (cos(q2 + q3)*c3*c4*c6*s2*s5*s6)/2 + (sin(q2 + q3)*c2*c3*c4*c6*s5*s6)/2 - (sin(q2 + q3)*c4*c6*s2*s3*s5*s6)/2 + (cos(q2 + q3)*c2*c5*c6^2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*c6^2*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*c6^2*s4*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s6 - (sin(q2 + q3)*c5*c6^2*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*c6^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*c6^2*s2*s4) - dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c6^2*s3 - c3*c4*c6^2*s2 - c5*c6^2*s2*s3*s5 + c2*c4*c5^2*c6^2*s3 + c3*c4*c5^2*c6^2*s2 + c2*c3*c5*c6^2*s5)) - dq6r*(dq2*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) + dq3*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) + dq5*((c2*c3*s5)/2 - (s2*s3*s5)/2 - c2*c3*c6^2*s5 + c6^2*s2*s3*s5 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2 + c2*c6*s3*s4*s6 + c3*c6*s2*s4*s6 - c2*c4*c5*c6^2*s3 - c3*c4*c5*c6^2*s2) - dq4*(c2*c3*c6*s6 - (c2*s3*s4*s5)/2 - (c3*s2*s4*s5)/2 - c6*s2*s3*s6 + c2*c6^2*s3*s4*s5 + c3*c6^2*s2*s4*s5 + c5^2*c6*s2*s3*s6 - c2*c3*c5^2*c6*s6 + c2*c4*c5*c6*s3*s5*s6 + c3*c4*c5*c6*s2*s5*s6) + dq1*(cos(q2 + q3)*c2*c3*c6*s6 - (cos(q2 + q3)*c2*s3*s4*s5)/2 - (cos(q2 + q3)*c3*s2*s4*s5)/2 - (sin(q2 + q3)*c2*c3*s4*s5)/2 - cos(q2 + q3)*c6*s2*s3*s6 - sin(q2 + q3)*c2*c6*s3*s6 - sin(q2 + q3)*c3*c6*s2*s6 + (sin(q2 + q3)*s2*s3*s4*s5)/2 - sin(q2 + q3)*c2*c4*c5*s3*s4 - sin(q2 + q3)*c3*c4*c5*s2*s4 - cos(q2 + q3)*c2*c3*c5^2*c6*s6 + cos(q2 + q3)*c2*c6^2*s3*s4*s5 + cos(q2 + q3)*c3*c6^2*s2*s4*s5 + sin(q2 + q3)*c2*c3*c6^2*s4*s5 + sin(q2 + q3)*c2*c4^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c6*s2*s6 + cos(q2 + q3)*c5^2*c6*s2*s3*s6 - sin(q2 + q3)*c6^2*s2*s3*s4*s5 + 2*sin(q2 + q3)*c2*c4*c5*c6^2*s3*s4 + 2*sin(q2 + q3)*c3*c4*c5*c6^2*s2*s4 + sin(q2 + q3)*c2*c4^2*c5^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c5^2*c6*s2*s6 + cos(q2 + q3)*c2*c4*c5*c6*s3*s5*s6 + cos(q2 + q3)*c3*c4*c5*c6*s2*s5*s6 + sin(q2 + q3)*c2*c3*c4*c5*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6*s2*s3*s5*s6)) - dq3r*(dq2*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c6^2*s2*s3*s4 + c2*c3*c5*c6*s6 - c5*c6*s2*s3*s6 - c2*c3*c4*c6^2*s4 - c2*c3*c4*c5^2*c6^2*s4 + c4*c5^2*c6^2*s2*s3*s4 + c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6 - 2*c2*c3*c4^2*c5*c6*s6 + c2*c5*c6^2*s3*s4*s5 + c3*c5*c6^2*s2*s4*s5 + 2*c4^2*c5*c6*s2*s3*s6) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 - c2*c5^2*c6^2*s3 - c3*c5^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c6^2*s2*s3*s4 + c2*c3*c5*c6*s6 - c5*c6*s2*s3*s6 - c2*c3*c4*c6^2*s4 - c2*c3*c4*c5^2*c6^2*s4 + c4*c5^2*c6^2*s2*s3*s4 + c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6 - 2*c2*c3*c4^2*c5*c6*s6 + c2*c5*c6^2*s3*s4*s5 + c3*c5*c6^2*s2*s4*s5 + 2*c4^2*c5*c6*s2*s3*s6) + dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c3*c4*c5*c6*s6 + c4*c5*c6*s2*s3*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) + dq6*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) + dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - 2*c2*c6^2*s2 - c3*c4^2*s3 - 2*c3*c6^2*s3 - c4*c5*c6^2*s5 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3 + 4*c2*c3^2*c6^2*s2 + c2*c4^2*c6^2*s2 + 4*c2^2*c3*c6^2*s3 + c2*c5^2*c6^2*s2 + c3*c4^2*c6^2*s3 + c3*c5^2*c6^2*s3 + c6*s4*s5*s6 - 2*c2^2*c6*s4*s5*s6 - 2*c3^2*c6*s4*s5*s6 + 2*c2^2*c4*c5*c6^2*s5 + 2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c6^2*s2 - 2*c2*c3^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c6^2*s3 + c2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s3 + 4*c2^2*c3^2*c6*s4*s5*s6 - 4*c2^2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c5^2*c6^2*s3 - 2*c2*c4*c5*c6*s2*s4*s6 - 2*c3*c4*c5*c6*s3*s4*s6 - 4*c2*c3*c6*s2*s3*s4*s5*s6 + 4*c2*c3*c4*c5*c6^2*s2*s3*s5 + 4*c2*c3^2*c4*c5*c6*s2*s4*s6 + 4*c2^2*c3*c4*c5*c6*s3*s4*s6)) + ddq1r*(sin(q2 + q3)*c2*s3 + sin(q2 + q3)*c3*s2 - sin(q2 + q3)*c2*c4^2*s3 - sin(q2 + q3)*c3*c4^2*s2 - cos(q2 + q3)*c6^2*s2*s3 - sin(q2 + q3)*c2*c6^2*s3 - sin(q2 + q3)*c3*c6^2*s2 + cos(q2 + q3)*c2*c3*c6^2 - cos(q2 + q3)*c2*c3*c5^2*c6^2 + sin(q2 + q3)*c2*c4^2*c6^2*s3 + sin(q2 + q3)*c3*c4^2*c6^2*s2 + cos(q2 + q3)*c5^2*c6^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5^2*c6^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*c6^2*s2 - cos(q2 + q3)*c2*c6*s3*s4*s5*s6 - cos(q2 + q3)*c3*c6*s2*s4*s5*s6 - sin(q2 + q3)*c2*c3*c6*s4*s5*s6 + sin(q2 + q3)*c6*s2*s3*s4*s5*s6 + cos(q2 + q3)*c2*c4*c5*c6^2*s3*s5 + cos(q2 + q3)*c3*c4*c5*c6^2*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*c6^2*s5 - sin(q2 + q3)*c4*c5*c6^2*s2*s3*s5 - 2*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s6 - 2*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s6) - ddq4r*(c2*c3*c6^2 - c6^2*s2*s3 - c2*c3*c5^2*c6^2 + c5^2*c6^2*s2*s3 - c2*c6*s3*s4*s5*s6 - c3*c6*s2*s4*s5*s6 + c2*c4*c5*c6^2*s3*s5 + c3*c4*c5*c6^2*s2*s5) - dq1r*(dq4*(sin(q2 + q3)*c2*c4*c6^2*s3*s4 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c5*c6*s3*s6 - sin(q2 + q3)*c3*c5*c6*s2*s6 - sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*c6^2*s2*s4 + (cos(q2 + q3)*c2*c4*c6*s3*s5*s6)/2 + (cos(q2 + q3)*c3*c4*c6*s2*s5*s6)/2 + (sin(q2 + q3)*c2*c3*c4*c6*s5*s6)/2 - (sin(q2 + q3)*c4*c6*s2*s3*s5*s6)/2 + (cos(q2 + q3)*c2*c5*c6^2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*c6^2*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*c6^2*s4*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s6 - (sin(q2 + q3)*c5*c6^2*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*c6^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*c6^2*s2*s4) + dq3*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - 2*c2*c6^2*s2 - c3*c4^2*s3 - 2*c3*c6^2*s3 - c4*c5*c6^2*s5 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3 + 4*c2*c3^2*c6^2*s2 + c2*c4^2*c6^2*s2 + 4*c2^2*c3*c6^2*s3 + c2*c5^2*c6^2*s2 + c3*c4^2*c6^2*s3 + c3*c5^2*c6^2*s3 + c6*s4*s5*s6 - 2*c2^2*c6*s4*s5*s6 - 2*c3^2*c6*s4*s5*s6 + 2*c2^2*c4*c5*c6^2*s5 + 2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c6^2*s2 - 2*c2*c3^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c6^2*s3 + c2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s3 + 4*c2^2*c3^2*c6*s4*s5*s6 - 4*c2^2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c5^2*c6^2*s3 - 2*c2*c4*c5*c6*s2*s4*s6 - 2*c3*c4*c5*c6*s3*s4*s6 - 4*c2*c3*c6*s2*s3*s4*s5*s6 + 4*c2*c3*c4*c5*c6^2*s2*s3*s5 + 4*c2*c3^2*c4*c5*c6*s2*s4*s6 + 4*c2^2*c3*c4*c5*c6*s3*s4*s6) + dq5*((cos(q2 + q3)*c2*c4*c6^2*s3)/2 + (cos(q2 + q3)*c3*c4*c6^2*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6^2)/2 - (sin(q2 + q3)*c4*c6^2*s2*s3)/2 + sin(q2 + q3)*c4*c5^2*c6^2*s2*s3 - cos(q2 + q3)*c2*c3*c5*c6^2*s5 + cos(q2 + q3)*c5*c6^2*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*c6^2*s3 - cos(q2 + q3)*c3*c4*c5^2*c6^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6^2 + (cos(q2 + q3)*c2*c5*c6*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*c6*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*c6*s4*s6)/2 - (sin(q2 + q3)*c5*c6*s2*s3*s4*s6)/2 + sin(q2 + q3)*c2*c4^2*c5*c6^2*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6^2*s2*s5 - sin(q2 + q3)*c2*c4*c6*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*c6*s2*s4*s5*s6) - dq2*(sin(2*q2 + 2*q3 - q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/64 + (3*sin(2*q2 + 2*q3 - 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 + 2*q6))/64 - sin(2*q2 + 2*q3 + q4 + q5 - 2*q6)/16 + sin(2*q2 + 2*q3 + q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - 2*q4)/32 - sin(2*q2 + 2*q3 + 2*q4)/32 + (3*sin(2*q2 + 2*q3 - 2*q5))/32 + (3*sin(2*q2 + 2*q3 + 2*q5))/32 - (3*sin(2*q2 + 2*q3 - 2*q6))/32 - (3*sin(2*q2 + 2*q3 + 2*q6))/32 + sin(2*q2 + 2*q3)/16 + sin(2*q2 + 2*q3 + q4 - q5 - 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - q5 + 2*q6)/16 + sin(2*q2 + 2*q3 - q4 + q5 - 2*q6)/16 - sin(2*q2 + 2*q3 - q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5)/16 + sin(2*q2 + 2*q3 + q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - q5 - 2*q6)/16 + sin(2*q2 + 2*q3 - q4 - q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/128) + dq6*(cos(q2 + q3)*c2*c3*c6*s6 - (cos(q2 + q3)*c2*s3*s4*s5)/2 - (cos(q2 + q3)*c3*s2*s4*s5)/2 - (sin(q2 + q3)*c2*c3*s4*s5)/2 - cos(q2 + q3)*c6*s2*s3*s6 - sin(q2 + q3)*c2*c6*s3*s6 - sin(q2 + q3)*c3*c6*s2*s6 + (sin(q2 + q3)*s2*s3*s4*s5)/2 - sin(q2 + q3)*c2*c4*c5*s3*s4 - sin(q2 + q3)*c3*c4*c5*s2*s4 - cos(q2 + q3)*c2*c3*c5^2*c6*s6 + cos(q2 + q3)*c2*c6^2*s3*s4*s5 + cos(q2 + q3)*c3*c6^2*s2*s4*s5 + sin(q2 + q3)*c2*c3*c6^2*s4*s5 + sin(q2 + q3)*c2*c4^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c6*s2*s6 + cos(q2 + q3)*c5^2*c6*s2*s3*s6 - sin(q2 + q3)*c6^2*s2*s3*s4*s5 + 2*sin(q2 + q3)*c2*c4*c5*c6^2*s3*s4 + 2*sin(q2 + q3)*c3*c4*c5*c6^2*s2*s4 + sin(q2 + q3)*c2*c4^2*c5^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c5^2*c6*s2*s6 + cos(q2 + q3)*c2*c4*c5*c6*s3*s5*s6 + cos(q2 + q3)*c3*c4*c5*c6*s2*s5*s6 + sin(q2 + q3)*c2*c3*c4*c5*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6*s2*s3*s5*s6)) - dq2r*(dq2*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c6^2*s2*s3*s4 + c2*c3*c5*c6*s6 - c5*c6*s2*s3*s6 - c2*c3*c4*c6^2*s4 - c2*c3*c4*c5^2*c6^2*s4 + c4*c5^2*c6^2*s2*s3*s4 + c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6 - 2*c2*c3*c4^2*c5*c6*s6 + c2*c5*c6^2*s3*s4*s5 + c3*c5*c6^2*s2*s4*s5 + 2*c4^2*c5*c6*s2*s3*s6) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 - c2*c5^2*c6^2*s3 - c3*c5^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq3*(c2*c3*c4*s4 - c4*s2*s3*s4 + c4*c6^2*s2*s3*s4 + c2*c3*c5*c6*s6 - c5*c6*s2*s3*s6 - c2*c3*c4*c6^2*s4 - c2*c3*c4*c5^2*c6^2*s4 + c4*c5^2*c6^2*s2*s3*s4 + c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6 - 2*c2*c3*c4^2*c5*c6*s6 + c2*c5*c6^2*s3*s4*s5 + c3*c5*c6^2*s2*s4*s5 + 2*c4^2*c5*c6*s2*s3*s6) + dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c3*c4*c5*c6*s6 + c4*c5*c6*s2*s3*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) + dq6*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) - dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/64 + (3*sin(2*q2 + 2*q3 - 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 + 2*q6))/64 - sin(2*q2 + 2*q3 + q4 + q5 - 2*q6)/16 + sin(2*q2 + 2*q3 + q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - 2*q4)/32 - sin(2*q2 + 2*q3 + 2*q4)/32 + (3*sin(2*q2 + 2*q3 - 2*q5))/32 + (3*sin(2*q2 + 2*q3 + 2*q5))/32 - (3*sin(2*q2 + 2*q3 - 2*q6))/32 - (3*sin(2*q2 + 2*q3 + 2*q6))/32 + sin(2*q2 + 2*q3)/16 + sin(2*q2 + 2*q3 + q4 - q5 - 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - q5 + 2*q6)/16 + sin(2*q2 + 2*q3 - q4 + q5 - 2*q6)/16 - sin(2*q2 + 2*q3 - q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5)/16 + sin(2*q2 + 2*q3 + q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - q5 - 2*q6)/16 + sin(2*q2 + 2*q3 - q4 - q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/128)) + ddq5r*(c2*c6^2*s3*s4 - c3*s2*s4 - c2*s3*s4 + c3*c6^2*s2*s4 + c2*c3*c6*s5*s6 - c6*s2*s3*s5*s6 + c2*c4*c5*c6*s3*s6 + c3*c4*c5*c6*s2*s6) - dq5r*(dq2*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c3*c4*c5*c6*s6 + c4*c5*c6*s2*s3*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) + dq3*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c3*c4*c5*c6*s6 + c4*c5*c6*s2*s3*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) + dq6*((c2*c3*s5)/2 - (s2*s3*s5)/2 - c2*c3*c6^2*s5 + c6^2*s2*s3*s5 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2 + c2*c6*s3*s4*s6 + c3*c6*s2*s4*s6 - c2*c4*c5*c6^2*s3 - c3*c4*c5*c6^2*s2) + dq5*(c5*c6*s2*s3*s6 - c2*c3*c5*c6*s6 + c2*c4*c6*s3*s5*s6 + c3*c4*c6*s2*s5*s6) + dq1*((cos(q2 + q3)*c2*c4*c6^2*s3)/2 + (cos(q2 + q3)*c3*c4*c6^2*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6^2)/2 - (sin(q2 + q3)*c4*c6^2*s2*s3)/2 + sin(q2 + q3)*c4*c5^2*c6^2*s2*s3 - cos(q2 + q3)*c2*c3*c5*c6^2*s5 + cos(q2 + q3)*c5*c6^2*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*c6^2*s3 - cos(q2 + q3)*c3*c4*c5^2*c6^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6^2 + (cos(q2 + q3)*c2*c5*c6*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*c6*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*c6*s4*s6)/2 - (sin(q2 + q3)*c5*c6*s2*s3*s4*s6)/2 + sin(q2 + q3)*c2*c4^2*c5*c6^2*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6^2*s2*s5 - sin(q2 + q3)*c2*c4*c6*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*c6*s2*s4*s5*s6) + dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c6^2*s3 - c3*c4*c6^2*s2 - c5*c6^2*s2*s3*s5 + c2*c4*c5^2*c6^2*s3 + c3*c4*c5^2*c6^2*s2 + c2*c3*c5*c6^2*s5));
Y(1,41) =0;
Y(1,42) =-(47740*dq1r)/323;
Y(1,43) =0;
Y(1,44) =0;
Y(1,45) =0;
Y(1,46) =0;
Y(1,47) =0;
Y(1,48) =0;
Y(1,49) =0;
Y(1,50) =0;
Y(1,51) =0;
Y(1,52) =0;
Y(2,1) =(981*s2)/100 + (3*dq1*dq1r*c2)/20;
Y(2,2) =-dq1*dq1r*cos(2*q2);
Y(2,3) =-ddq1r*c2;
Y(2,4) =ddq1r*sin(q2 + q3);
Y(2,5) =ddq1r*cos(q2 + q3);
Y(2,6) =0;
Y(2,7) =ddq2r*((13*c4)/50 + (59*c3*c4)/50) - dq4r*(dq2*((13*s4)/100 + (59*c3*s4)/100) + dq3*((13*s4)/100 + (59*c3*s4)/100) + dq1*((59*c4*s2)/200 + (13*sin(q2 + q3)*c4)/100 - (59*cos(q2 + q3)*c4*s3)/200 + (59*sin(q2 + q3)*c3*c4)/200) + (59*dq4*c4*s3)/100) - dq2r*(dq4*((13*s4)/100 + (59*c3*s4)/100) + (59*dq3*c4*s3)/100) + ddq3r*((13*c4)/50 + (59*c3*c4)/100) - dq3r*(dq4*((13*s4)/100 + (59*c3*s4)/100) + (59*dq2*c4*s3)/100 + (59*dq3*c4*s3)/100) - ddq1r*((13*sin(q2 + q3)*s4)/100 - (59*cos(q2 + q3)*s3*s4)/100 + (59*sin(q2 + q3)*c3*s4)/100) - c4*((981*c2*c3)/100 - (981*s2*s3)/100) - dq1r*(dq4*((59*c4*s2)/100 + (13*c2*c4*s3)/100 + (13*c3*c4*s2)/100) - dq1*((3*sin(q2 + q3 + q4))/40 + (13*sin(2*q2 + 2*q3 - q4))/200 + (3*sin(q2 + q3 - q4))/40 + (59*sin(2*q2 + q3 + q4))/200 + (59*sin(2*q2 + q3 - q4))/200 + (13*sin(2*q2 + 2*q3 + q4))/200)) - (59*ddq4r*s3*s4)/100;
Y(2,8) =ddq1r*cos(q2 + q3)*s4 - ddq4r*s4 - dq4r*(dq4*c4 - dq1*cos(q2 + q3)*c4) - dq1r*(dq1*(cos(2*q2 + 2*q3 - q4)/2 + cos(2*q2 + 2*q3 + q4)/2) - dq4*(c2*c3*c4 - c4*s2*s3));
Y(2,9) =ddq1r*(sin(q2 + q3) - 2*sin(q2 + q3)*c4^2) - ddq3r*sin(2*q4) - ddq2r*sin(2*q4) - dq1r*(dq1*(cos(2*q2 + 2*q3 - 2*q4)/4 - cos(2*q2 + 2*q3 + 2*q4)/4) - dq4*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4)) - dq4r*(dq2*(2*c4^2 - 1) + dq3*(2*c4^2 - 1) - 2*dq1*sin(q2 + q3)*c4*s4) - dq4*dq2r*(2*c4^2 - 1) - dq4*dq3r*(2*c4^2 - 1);
Y(2,10) =0;
Y(2,11) =ddq4r*((64707*c5*s4)/100000 - (59*c5*s3*s4)/100) - dq5r*(dq2*((59*c5*s3)/100 - (64707*c5)/100000 + (13*c4*s5)/100 + (59*c3*c4*s5)/100) - dq1*((59*s2*s4*s5)/200 + (64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100 - (59*cos(q2 + q3)*s3*s4*s5)/200 + (59*sin(q2 + q3)*c3*s4*s5)/200) + dq3*((59*c5*s3)/100 - (64707*c5)/100000 + (13*c4*s5)/100 + (59*c3*c4*s5)/100) + dq5*((13*s5)/100 - (64707*c4*c5)/100000 + (59*c3*s5)/100 + (59*c4*c5*s3)/100) + (dq4*s4*(64707*s5 - 59000*s3*s5))/100000) - dq3r*(dq4*((13*c5*s4)/100 + (59*c3*c5*s4)/100) + dq2*((59*c3*s5)/100 + (59*c4*c5*s3)/100) + dq3*((59*c3*s5)/100 + (59*c4*c5*s3)/100) + dq5*((59*c5*s3)/100 - (64707*c5)/100000 + (13*c4*s5)/100 + (59*c3*c4*s5)/100)) + ddq2r*((64707*s5)/50000 + (13*c4*c5)/50 - (59*s3*s5)/50 + (59*c3*c4*c5)/50) + ddq3r*((64707*s5)/50000 + (13*c4*c5)/50 - (59*s3*s5)/100 + (59*c3*c4*c5)/100) + ddq5r*((13*c5)/100 + (59*c3*c5)/100 + (64707*c4*s5)/100000 - (59*c4*s3*s5)/100) - dq4r*(dq2*((13*c5*s4)/100 + (59*c3*c5*s4)/100) - dq4*((64707*c4*c5)/100000 - (59*c4*c5*s3)/100) + dq3*((13*c5*s4)/100 + (59*c3*c5*s4)/100) + dq1*((64707*cos(q2 + q3)*c4*c5)/100000 + (13*sin(q2 + q3)*c4*c5)/100 + (59*c4*c5*s2)/200 - (59*cos(q2 + q3)*c4*c5*s3)/200 + (59*sin(q2 + q3)*c3*c4*c5)/200) + (dq5*s4*(64707*s5 - 59000*s3*s5))/100000) + dq1r*(dq5*((59*s2*s4*s5)/100 + (64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000) - dq4*((59*c4*c5*s2)/100 + (64707*c2*c3*c4*c5)/100000 + (13*c2*c4*c5*s3)/100 + (13*c3*c4*c5*s2)/100 - (64707*c4*c5*s2*s3)/100000) + dq1*((64707*cos(2*q2 + 2*q3 - q4 - q5))/400000 + (13*sin(2*q2 + 2*q3 - q4 - q5))/400 + (3*sin(q2 + q3 + q5))/40 - (64707*cos(2*q2 + 2*q3 - q5))/200000 - (13*sin(2*q2 + 2*q3 - q5))/200 + (64707*cos(2*q2 + 2*q3 + q4 + q5))/400000 + (3*sin(q2 + q3 - q4 - q5))/80 + (59*sin(2*q2 + q3 + q4 - q5))/400 + (59*sin(2*q2 + q3 - q4 + q5))/400 + (13*sin(2*q2 + 2*q3 + q4 + q5))/400 - (3*sin(q2 + q3 - q5))/40 + (59*sin(2*q2 + q3 + q5))/200 + (3*sin(q2 + q3 + q4 + q5))/80 + (64707*cos(2*q2 + 2*q3 + q4 - q5))/400000 + (64707*cos(2*q2 + 2*q3 - q4 + q5))/400000 + (59*sin(2*q2 + q3 - q4 - q5))/400 + (13*sin(2*q2 + 2*q3 + q4 - q5))/400 + (13*sin(2*q2 + 2*q3 - q4 + q5))/400 + (64707*cos(2*q2 + 2*q3 + q5))/200000 - (59*sin(2*q2 + q3 - q5))/200 + (13*sin(2*q2 + 2*q3 + q5))/200 + (3*sin(q2 + q3 + q4 - q5))/80 + (3*sin(q2 + q3 - q4 + q5))/80 + (59*sin(2*q2 + q3 + q4 + q5))/400)) - dq2r*(dq4*((13*c5*s4)/100 + (59*c3*c5*s4)/100) + dq3*((59*c3*s5)/100 + (59*c4*c5*s3)/100) + dq5*((59*c5*s3)/100 - (64707*c5)/100000 + (13*c4*s5)/100 + (59*c3*c4*s5)/100)) - ddq1r*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100 - (59*cos(q2 + q3)*c5*s3*s4)/100 + (59*sin(q2 + q3)*c3*c5*s4)/100) - c4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + s4^2*s5*((981*c2*s3)/100 + (981*c3*s2)/100);
Y(2,12) =ddq1r*(2*sin(q2 + q3)*c4^2*c5 - sin(q2 + q3)*c5 + cos(q2 + q3)*c4*s5) - dq5r*(dq5*s4*s5 - dq1*(sin(q2 + q3)*s5 - sin(q2 + q3)*c4^2*s5) + dq2*c4*s4*s5 + dq3*c4*s4*s5) - dq1r*(dq1*(cos(2*q2 + 2*q3 - q4 - q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + 2*q4 - q5)/8 + cos(2*q2 + 2*q3 + q4 + q5)/4 - cos(2*q2 + 2*q3 + q4 - q5)/4 - cos(2*q2 + 2*q3 - q4 + q5)/4 - cos(2*q2 + 2*q3 - 2*q4 + q5)/8 + cos(2*q2 + 2*q3 + 2*q4 + q5)/8) + dq4*(c2*c3*s4*s5 - s2*s3*s4*s5 + 2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) - dq5*(c2*s3*s5 + c3*s2*s5 - c2*c4^2*s3*s5 - c3*c4^2*s2*s5)) - dq2r*(dq4*(c5 - 2*c4^2*c5) + dq5*c4*s4*s5) - dq3r*(dq4*(c5 - 2*c4^2*c5) + dq5*c4*s4*s5) - dq4r*(dq2*(c5 - 2*c4^2*c5) + dq3*(c5 - 2*c4^2*c5) + dq1*(cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4*c5*s4) - dq4*s4*s5) - ddq4r*c4*s5 + ddq5r*c5*s4 + 2*ddq2r*c4*c5*s4 + 2*ddq3r*c4*c5*s4;
Y(2,13) =ddq4r*(s4 - 2*c5^2*s4) - dq1r*(dq4*(c2*c3*c4 - c4*s2*s3 - 2*c2*c3*c4*c5^2 + 2*c4*c5^2*s2*s3 + 2*c2*c4^2*c5*s3*s5 + 2*c3*c4^2*c5*s2*s5) - dq5*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) + dq1*(cos(2*q2 + 2*q3 - q4 - 2*q5)/4 + cos(2*q2 + 2*q3 - q4 + 2*q5)/4 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5)/16 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5)/16 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5)/16 - (3*cos(2*q2 + 2*q3 - 2*q5))/8 + (3*cos(2*q2 + 2*q3 + 2*q5))/8 + cos(2*q2 + 2*q3 + q4 - 2*q5)/4 + cos(2*q2 + 2*q3 + q4 + 2*q5)/4)) - dq5r*(dq2*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq3*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq1*(2*sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + 2*cos(q2 + q3)*c5*s4*s5) - dq4*sin(2*q5)*s4) - dq2r*(dq5*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + 2*dq4*c4*c5*s4*s5) - dq3r*(dq5*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + 2*dq4*c4*c5*s4*s5) - ddq1r*(cos(q2 + q3)*s4 - 2*cos(q2 + q3)*c5^2*s4 + 2*sin(q2 + q3)*c4*c5*s4*s5) - ddq2r*(sin(2*q5) - 2*c4^2*c5*s5) - ddq3r*(sin(2*q5) - 2*c4^2*c5*s5) - dq4r*(dq1*(cos(q2 + q3)*c4 - 2*cos(q2 + q3)*c4*c5^2 + 2*sin(q2 + q3)*c4^2*c5*s5) - dq4*(c4 - 2*c4*c5^2) - dq5*sin(2*q5)*s4 + 2*dq2*c4*c5*s4*s5 + 2*dq3*c4*c5*s4*s5);
Y(2,14) =dq1r*(dq4*(c5*s2*s3*s4 - c2*c3*c5*s4 + 2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) + dq5*(c2*c5*s3 + c3*c5*s2 - c2*c4^2*c5*s3 - c3*c4^2*c5*s2) - dq1*(sin(2*q2 + 2*q3 - q4 - q5)/4 - sin(2*q2 + 2*q3 - 2*q4 - q5)/8 + sin(2*q2 + 2*q3 + 2*q4 - q5)/8 - sin(2*q2 + 2*q3 + q4 + q5)/4 - sin(2*q2 + 2*q3 + q4 - q5)/4 + sin(2*q2 + 2*q3 - q4 + q5)/4 + sin(2*q2 + 2*q3 - 2*q4 + q5)/8 - sin(2*q2 + 2*q3 + 2*q4 + q5)/8)) + dq4r*(dq2*(s5 - 2*c4^2*s5) + dq3*(s5 - 2*c4^2*s5) - dq1*(cos(q2 + q3)*c5*s4 - 2*sin(q2 + q3)*c4*s4*s5) + dq4*c5*s4) - dq5r*(dq5*c5*s4 - dq1*(sin(q2 + q3)*c5 - sin(q2 + q3)*c4^2*c5) + dq2*c4*c5*s4 + dq3*c4*c5*s4) + dq2r*(dq4*(s5 - 2*c4^2*s5) - dq5*c4*c5*s4) + dq3r*(dq4*(s5 - 2*c4^2*s5) - dq5*c4*c5*s4) + ddq1r*(sin(q2 + q3)*s5 - 2*sin(q2 + q3)*c4^2*s5 + cos(q2 + q3)*c4*c5) - ddq4r*c4*c5 - ddq5r*s4*s5 - 2*ddq2r*c4*s4*s5 - 2*ddq3r*c4*s4*s5;
Y(2,15) =0;
Y(2,16) =dq1r*(dq6*((59*cos(q2 + q3)*c4*c6*s3)/200 - (59*c4*c6*s2)/200 - (59*sin(q2 + q3)*c3*c4*c6)/200 + (64707*cos(q2 + q3)*c5*s4*s6)/200000 - (64707*c2*c3*c4*c6)/100000 + (13*sin(q2 + q3)*c5*s4*s6)/200 - (13*c2*c4*c6*s3)/100 - (13*c3*c4*c6*s2)/100 + (64707*c4*c6*s2*s3)/100000 + (59*c5*s2*s4*s6)/200 - (59*cos(q2 + q3)*c5*s3*s4*s6)/200 + (59*sin(q2 + q3)*c3*c5*s4*s6)/200 + (64707*c2*c3*c5*s4*s6)/200000 + (13*c2*c5*s3*s4*s6)/200 + (13*c3*c5*s2*s4*s6)/200 - (64707*c5*s2*s3*s4*s6)/200000) + dq1*((64707*cos(2*q2 + 2*q3 - q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 - q6))/400000 + (3*sin(q2 + q3 + q4 + q5 + q6))/160 + (13*sin(2*q2 + 2*q3 - q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 - q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*sin(q2 + q3 - q4 - q5 - q6))/160 + (59*sin(2*q2 + q3 + q4 - q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 - q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 + q6))/400000 + (3*sin(q2 + q3 - q4 - q6))/80 - (3*sin(q2 + q3 - q5 - q6))/80 - (59*sin(2*q2 + q3 + q4 - q6))/400 - (59*sin(2*q2 + q3 - q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 - q6))/400 - (59*sin(2*q2 + q3 - q5 + q6))/400 + (13*sin(2*q2 + 2*q3 + q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 + q6))/400 + (3*sin(q2 + q3 + q4 + q5 - q6))/160 + (3*sin(q2 + q3 + q4 - q5 + q6))/160 + (3*sin(q2 + q3 - q4 + q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800000 + (59*sin(2*q2 + q3 - q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800 + (13*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800 + (3*sin(q2 + q3 + q4 + q6))/80 + (3*sin(q2 + q3 + q5 + q6))/80 - (64707*cos(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q4 + q6))/400000 + (64707*cos(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*cos(2*q2 + 2*q3 - q5 + q6))/400000 + (59*sin(2*q2 + q3 - q4 - q6))/400 - (59*sin(2*q2 + q3 - q5 - q6))/400 - (13*sin(2*q2 + 2*q3 + q4 - q6))/400 - (13*sin(2*q2 + 2*q3 - q4 + q6))/400 + (13*sin(2*q2 + 2*q3 + q5 - q6))/400 - (13*sin(2*q2 + 2*q3 - q5 + q6))/400 + (64707*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (3*sin(q2 + q3 + q4 - q5 - q6))/160 + (3*sin(q2 + q3 - q4 + q5 - q6))/160 + (3*sin(q2 + q3 - q4 - q5 + q6))/160 + (59*sin(2*q2 + q3 + q4 + q5 - q6))/800 + (59*sin(2*q2 + q3 + q4 - q5 + q6))/800 + (59*sin(2*q2 + q3 - q4 + q5 + q6))/800 + (13*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800000 + (13*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (3*sin(q2 + q3 + q4 - q6))/80 - (3*sin(q2 + q3 - q4 + q6))/80 + (3*sin(q2 + q3 + q5 - q6))/80 - (3*sin(q2 + q3 - q5 + q6))/80 + (59*sin(2*q2 + q3 + q4 + q6))/400 + (59*sin(2*q2 + q3 + q5 + q6))/400) + dq4*((59*s2*s4*s6)/100 - (59*c4*c5*c6*s2)/100 + (64707*c2*c3*s4*s6)/100000 + (13*c2*s3*s4*s6)/100 + (13*c3*s2*s4*s6)/100 - (64707*s2*s3*s4*s6)/100000 - (64707*c2*c3*c4*c5*c6)/100000 - (13*c2*c4*c5*c6*s3)/100 - (13*c3*c4*c5*c6*s2)/100 + (64707*c4*c5*c6*s2*s3)/100000) + dq5*((59*c6*s2*s4*s5)/100 + (64707*c2*c3*c6*s4*s5)/100000 + (13*c2*c6*s3*s4*s5)/100 + (13*c3*c6*s2*s4*s5)/100 - (64707*c6*s2*s3*s4*s5)/100000)) - ddq1r*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 - (59*cos(q2 + q3)*c4*s3*s6)/100 + (59*sin(q2 + q3)*c3*c4*s6)/100 + (13*sin(q2 + q3)*c5*c6*s4)/100 - (59*cos(q2 + q3)*c5*c6*s3*s4)/100 + (59*sin(q2 + q3)*c3*c5*c6*s4)/100) - ddq6r*((13*s5*s6)/100 - (64707*c6*s4)/100000 - (64707*c4*c5*s6)/100000 + (59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100) - dq3r*(dq6*((13*c6*s4)/100 + (64707*s5*s6)/100000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/100 + (59*c3*c4*c5*s6)/100) + dq5*((59*c5*c6*s3)/100 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c6*s5)/100) + dq4*((13*c4*s6)/100 + (59*c3*c4*s6)/100 + (13*c5*c6*s4)/100 + (59*c3*c5*c6*s4)/100) + dq2*((59*c3*c6*s5)/100 - (59*s3*s4*s6)/100 + (59*c4*c5*c6*s3)/100) + dq3*((59*c3*c6*s5)/100 - (59*s3*s4*s6)/100 + (59*c4*c5*c6*s3)/100)) - dq5r*(dq6*((13*c5*s6)/100 + (59*c3*c5*s6)/100 + (64707*c4*s5*s6)/100000 - (59*c4*s3*s5*s6)/100) + dq2*((59*c5*c6*s3)/100 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c6*s5)/100) + dq3*((59*c5*c6*s3)/100 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c6*s5)/100) + dq5*((13*c6*s5)/100 - (64707*c4*c5*c6)/100000 + (59*c3*c6*s5)/100 + (59*c4*c5*c6*s3)/100) - dq1*((64707*cos(q2 + q3)*c4*c6)/10000000 + (13*sin(q2 + q3)*c4*c6)/10000 + (59*c4*c6*s2)/10000 - (64707*cos(q2 + q3)*c5*s4*s6)/10000000 + (64707*cos(q2 + q3)*c6*s4*s5)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/10000 + (13*sin(q2 + q3)*c6*s4*s5)/100 - (59*c5*s2*s4*s6)/10000 + (59*c6*s2*s4*s5)/200 - (59*cos(q2 + q3)*c6*s3*s4*s5)/200 + (59*sin(q2 + q3)*c3*c6*s4*s5)/200) + (dq4*s4*(64707*c6*s5 - 59000*c6*s3*s5))/100000) - dq6r*(dq5*((13*c5*s6)/100 + (59*c3*c5*s6)/100 + (64707*c4*s5*s6)/100000 - (59*c4*s3*s5*s6)/100) + dq2*((13*c6*s4)/100 + (64707*s5*s6)/100000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/100 + (59*c3*c4*c5*s6)/100) + dq3*((13*c6*s4)/100 + (64707*s5*s6)/100000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/100 + (59*c3*c4*c5*s6)/100) + dq1*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 + (59*c4*c6*s2)/200 - (59*cos(q2 + q3)*c4*c6*s3)/200 + (59*sin(q2 + q3)*c3*c4*c6)/200 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100 - (59*c5*s2*s4*s6)/200 + (59*cos(q2 + q3)*c5*s3*s4*s6)/200 - (59*sin(q2 + q3)*c3*c5*s4*s6)/200) - dq4*((64707*c4*c6)/100000 - (59*c4*c6*s3)/100 - (64707*c5*s4*s6)/100000 + (59*c5*s3*s4*s6)/100) + dq6*((13*c6*s5)/100 + (64707*s4*s6)/100000 - (59*s3*s4*s6)/100 - (64707*c4*c5*c6)/100000 + (59*c3*c6*s5)/100 + (59*c4*c5*c6*s3)/100)) - dq2r*(dq6*((13*c6*s4)/100 + (64707*s5*s6)/100000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/100 + (59*c3*c4*c5*s6)/100) + dq5*((59*c5*c6*s3)/100 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c6*s5)/100) + dq4*((13*c4*s6)/100 + (59*c3*c4*s6)/100 + (13*c5*c6*s4)/100 + (59*c3*c5*c6*s4)/100) + dq3*((59*c3*c6*s5)/100 - (59*s3*s4*s6)/100 + (59*c4*c5*c6*s3)/100)) - dq4r*(dq2*((13*c4*s6)/100 + (59*c3*c4*s6)/100 + (13*c5*c6*s4)/100 + (59*c3*c5*c6*s4)/100) + dq3*((13*c4*s6)/100 + (59*c3*c4*s6)/100 + (13*c5*c6*s4)/100 + (59*c3*c5*c6*s4)/100) - dq1*((59*s2*s4*s6)/200 + (64707*cos(q2 + q3)*s4*s6)/100000 + (13*sin(q2 + q3)*s4*s6)/100 - (64707*cos(q2 + q3)*c4*c5*c6)/100000 - (13*sin(q2 + q3)*c4*c5*c6)/100 - (59*cos(q2 + q3)*s3*s4*s6)/200 + (59*sin(q2 + q3)*c3*s4*s6)/200 - (59*c4*c5*c6*s2)/200 + (59*cos(q2 + q3)*c4*c5*c6*s3)/200 - (59*sin(q2 + q3)*c3*c4*c5*c6)/200) + dq4*((64707*s4*s6)/100000 - (59*s3*s4*s6)/100 - (64707*c4*c5*c6)/100000 + (59*c4*c5*c6*s3)/100) - dq6*((64707*c4*c6)/100000 - (59*c4*c6*s3)/100 - (64707*c5*s4*s6)/100000 + (59*c5*s3*s4*s6)/100) + (dq5*s4*(64707*c6*s5 - 59000*c6*s3*s5))/100000) + ddq5r*((13*c5*c6)/100 + (59*c3*c5*c6)/100 + (64707*c4*c6*s5)/100000 - (59*c4*c6*s3*s5)/100) + s4*(s5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + ddq2r*((64707*c6*s5)/50000 - (13*s4*s6)/50 + (13*c4*c5*c6)/50 - (59*c3*s4*s6)/50 - (59*c6*s3*s5)/50 + (59*c3*c4*c5*c6)/50) + ddq3r*((64707*c6*s5)/50000 - (13*s4*s6)/50 + (13*c4*c5*c6)/50 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) + ddq4r*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000 - (59*c4*s3*s6)/100 - (59*c5*c6*s3*s4)/100) - c4*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(2,17) =dq5r*(dq2*((59*c5*s3*s6)/100 - (64707*c5*s6)/100000 + (13*c4*s5*s6)/100 + (59*c3*c4*s5*s6)/100) + dq3*((59*c5*s3*s6)/100 - (64707*c5*s6)/100000 + (13*c4*s5*s6)/100 + (59*c3*c4*s5*s6)/100) + dq5*((13*s5*s6)/100 - (64707*c4*c5*s6)/100000 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100) - dq1*((64707*cos(q2 + q3)*c4*s6)/10000000 + (13*sin(q2 + q3)*c4*s6)/10000 + (59*c4*s2*s6)/10000 + (64707*cos(q2 + q3)*c5*c6*s4)/10000000 + (13*sin(q2 + q3)*c5*c6*s4)/10000 + (64707*cos(q2 + q3)*s4*s5*s6)/100000 + (13*sin(q2 + q3)*s4*s5*s6)/100 + (59*c5*c6*s2*s4)/10000 + (59*s2*s4*s5*s6)/200 - (59*cos(q2 + q3)*s3*s4*s5*s6)/200 + (59*sin(q2 + q3)*c3*s4*s5*s6)/200) - dq6*((13*c5*c6)/100 + (59*c3*c5*c6)/100 + (64707*c4*c6*s5)/100000 - (59*c4*c6*s3*s5)/100) + (dq4*s4*(64707*s5*s6 - 59000*s3*s5*s6))/100000) - ddq2r*((13*c6*s4)/50 + (64707*s5*s6)/50000 - (59*s3*s5*s6)/50 + (59*c3*c6*s4)/50 + (13*c4*c5*s6)/50 + (59*c3*c4*c5*s6)/50) - ddq3r*((13*c6*s4)/50 + (64707*s5*s6)/50000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/50 + (59*c3*c4*c5*s6)/100) - ddq1r*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 - (59*cos(q2 + q3)*c4*c6*s3)/100 + (59*sin(q2 + q3)*c3*c4*c6)/100 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100 + (59*cos(q2 + q3)*c5*s3*s4*s6)/100 - (59*sin(q2 + q3)*c3*c5*s4*s6)/100) - ddq5r*((13*c5*s6)/100 + (59*c3*c5*s6)/100 + (64707*c4*s5*s6)/100000 - (59*c4*s3*s5*s6)/100) - dq6r*(dq5*((13*c5*c6)/100 + (59*c3*c5*c6)/100 + (64707*c4*c6*s5)/100000 - (59*c4*c6*s3*s5)/100) - dq6*((13*s5*s6)/100 - (64707*c6*s4)/100000 - (64707*c4*c5*s6)/100000 + (59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100) - dq1*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (59*c4*s2*s6)/200 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 - (59*cos(q2 + q3)*c4*s3*s6)/200 + (59*sin(q2 + q3)*c3*c4*s6)/200 + (13*sin(q2 + q3)*c5*c6*s4)/100 + (59*c5*c6*s2*s4)/200 - (59*cos(q2 + q3)*c5*c6*s3*s4)/200 + (59*sin(q2 + q3)*c3*c5*c6*s4)/200) + dq2*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) + dq3*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) + dq4*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000 - (59*c4*s3*s6)/100 - (59*c5*c6*s3*s4)/100)) - dq1r*(dq5*((59*s2*s4*s5*s6)/100 + (64707*c2*c3*s4*s5*s6)/100000 + (13*c2*s3*s4*s5*s6)/100 + (13*c3*s2*s4*s5*s6)/100 - (64707*s2*s3*s4*s5*s6)/100000) - dq6*((59*c4*s2*s6)/200 + (64707*cos(q2 + q3)*c5*c6*s4)/200000 - (59*cos(q2 + q3)*c4*s3*s6)/200 + (59*sin(q2 + q3)*c3*c4*s6)/200 + (13*sin(q2 + q3)*c5*c6*s4)/200 + (64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 + (59*c5*c6*s2*s4)/200 - (64707*c4*s2*s3*s6)/100000 - (59*cos(q2 + q3)*c5*c6*s3*s4)/200 + (59*sin(q2 + q3)*c3*c5*c6*s4)/200 + (64707*c2*c3*c5*c6*s4)/200000 + (13*c2*c5*c6*s3*s4)/200 + (13*c3*c5*c6*s2*s4)/200 - (64707*c5*c6*s2*s3*s4)/200000) + dq1*((13*cos(2*q2 + 2*q3 - q4 - q6))/400 - (13*cos(2*q2 + 2*q3 - q5 - q6))/400 - (64707*sin(2*q2 + 2*q3 - q4 - q6))/400000 + (64707*sin(2*q2 + 2*q3 - q5 - q6))/400000 + (3*cos(q2 + q3 - q4 - q5 - q6))/160 + (59*cos(2*q2 + q3 + q4 - q5 - q6))/800 + (59*cos(2*q2 + q3 - q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 - q4 - q5 + q6))/800 + (13*cos(2*q2 + 2*q3 + q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 + q4 - q5 + q6))/800 - (13*cos(2*q2 + 2*q3 - q4 + q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 + q4 - q5 + q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 + q5 + q6))/800000 + (3*cos(q2 + q3 - q4 - q6))/80 - (3*cos(q2 + q3 - q5 - q6))/80 - (59*cos(2*q2 + q3 + q4 - q6))/400 + (59*cos(2*q2 + q3 - q4 + q6))/400 + (59*cos(2*q2 + q3 + q5 - q6))/400 + (59*cos(2*q2 + q3 - q5 + q6))/400 - (13*cos(2*q2 + 2*q3 + q4 + q6))/400 - (13*cos(2*q2 + 2*q3 + q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 + q6))/400000 + (64707*sin(2*q2 + 2*q3 + q5 + q6))/400000 + (3*cos(q2 + q3 + q4 + q5 - q6))/160 - (3*cos(q2 + q3 + q4 - q5 + q6))/160 - (3*cos(q2 + q3 - q4 + q5 + q6))/160 - (59*cos(2*q2 + q3 + q4 + q5 + q6))/800 + (59*cos(2*q2 + q3 - q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 + q4 - q5 - q6))/800 + (13*cos(2*q2 + 2*q3 - q4 + q5 - q6))/800 - (13*cos(2*q2 + 2*q3 - q4 - q5 + q6))/800 - (64707*sin(2*q2 + 2*q3 + q4 - q5 - q6))/800000 - (64707*sin(2*q2 + 2*q3 - q4 + q5 - q6))/800000 + (64707*sin(2*q2 + 2*q3 - q4 - q5 + q6))/800000 - (3*cos(q2 + q3 + q4 + q6))/80 - (3*cos(q2 + q3 + q5 + q6))/80 + (59*cos(2*q2 + q3 - q4 - q6))/400 - (59*cos(2*q2 + q3 - q5 - q6))/400 - (13*cos(2*q2 + 2*q3 + q4 - q6))/400 + (13*cos(2*q2 + 2*q3 - q4 + q6))/400 + (13*cos(2*q2 + 2*q3 + q5 - q6))/400 + (13*cos(2*q2 + 2*q3 - q5 + q6))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q6))/400000 - (64707*sin(2*q2 + 2*q3 + q5 - q6))/400000 - (64707*sin(2*q2 + 2*q3 - q5 + q6))/400000 + (3*cos(q2 + q3 + q4 - q5 - q6))/160 + (3*cos(q2 + q3 - q4 + q5 - q6))/160 - (3*cos(q2 + q3 - q4 - q5 + q6))/160 + (59*cos(2*q2 + q3 + q4 + q5 - q6))/800 - (59*cos(2*q2 + q3 + q4 - q5 + q6))/800 - (59*cos(2*q2 + q3 - q4 + q5 + q6))/800 - (13*cos(2*q2 + 2*q3 + q4 + q5 + q6))/800 + (64707*sin(2*q2 + 2*q3 + q4 + q5 + q6))/800000 + (13*cos(2*q2 + 2*q3 - q4 - q5 - q6))/800 - (64707*sin(2*q2 + 2*q3 - q4 - q5 - q6))/800000 - (3*cos(q2 + q3 + q4 - q6))/80 + (3*cos(q2 + q3 - q4 + q6))/80 + (3*cos(q2 + q3 + q5 - q6))/80 + (3*cos(q2 + q3 - q5 + q6))/80 - (59*cos(2*q2 + q3 + q4 + q6))/400 - (59*cos(2*q2 + q3 + q5 + q6))/400 - (3*cos(q2 + q3 + q4 + q5 + q6))/160) - dq4*((59*c6*s2*s4)/100 + (64707*c2*c3*c6*s4)/100000 + (13*c2*c6*s3*s4)/100 + (13*c3*c6*s2*s4)/100 + (59*c4*c5*s2*s6)/100 - (64707*c6*s2*s3*s4)/100000 + (64707*c2*c3*c4*c5*s6)/100000 + (13*c2*c4*c5*s3*s6)/100 + (13*c3*c4*c5*s2*s6)/100 - (64707*c4*c5*s2*s3*s6)/100000)) + dq3r*(dq5*((59*c5*s3*s6)/100 - (64707*c5*s6)/100000 + (13*c4*s5*s6)/100 + (59*c3*c4*s5*s6)/100) - dq4*((13*c4*c6)/100 + (59*c3*c4*c6)/100 - (13*c5*s4*s6)/100 - (59*c3*c5*s4*s6)/100) - dq6*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) + dq2*((59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100) + dq3*((59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100)) + s4*(s5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - dq4r*(dq2*((13*c4*c6)/100 + (59*c3*c4*c6)/100 - (13*c5*s4*s6)/100 - (59*c3*c5*s4*s6)/100) + dq3*((13*c4*c6)/100 + (59*c3*c4*c6)/100 - (13*c5*s4*s6)/100 - (59*c3*c5*s4*s6)/100) - dq1*((64707*cos(q2 + q3)*c6*s4)/100000 + (13*sin(q2 + q3)*c6*s4)/100 + (59*c6*s2*s4)/200 + (64707*cos(q2 + q3)*c4*c5*s6)/100000 - (59*cos(q2 + q3)*c6*s3*s4)/200 + (59*sin(q2 + q3)*c3*c6*s4)/200 + (13*sin(q2 + q3)*c4*c5*s6)/100 + (59*c4*c5*s2*s6)/200 - (59*cos(q2 + q3)*c4*c5*s3*s6)/200 + (59*sin(q2 + q3)*c3*c4*c5*s6)/200) + dq4*((64707*c6*s4)/100000 + (64707*c4*c5*s6)/100000 - (59*c6*s3*s4)/100 - (59*c4*c5*s3*s6)/100) + dq6*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000 - (59*c4*s3*s6)/100 - (59*c5*c6*s3*s4)/100) - (dq5*s4*(64707*s5*s6 - 59000*s3*s5*s6))/100000) + dq2r*(dq5*((59*c5*s3*s6)/100 - (64707*c5*s6)/100000 + (13*c4*s5*s6)/100 + (59*c3*c4*s5*s6)/100) - dq4*((13*c4*c6)/100 + (59*c3*c4*c6)/100 - (13*c5*s4*s6)/100 - (59*c3*c5*s4*s6)/100) - dq6*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) + dq3*((59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100)) + ddq4r*((64707*c4*c6)/100000 - (59*c4*c6*s3)/100 - (64707*c5*s4*s6)/100000 + (59*c5*s3*s4*s6)/100) - ddq6r*((13*c6*s5)/100 + (64707*s4*s6)/100000 - (59*s3*s4*s6)/100 - (64707*c4*c5*c6)/100000 + (59*c3*c6*s5)/100 + (59*c4*c5*c6*s3)/100) + c4*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(2,18) =dq1r*(dq1*((3*cos(2*q2 + 2*q3 - 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q4 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q4 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 - 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + 2*q6))/32 + (3*cos(2*q2 + 2*q3 + 2*q5 - 2*q6))/32 - (3*cos(2*q2 + 2*q3 + 2*q5 + 2*q6))/32 - cos(2*q2 + 2*q3 + q4 + q5 - 2*q6)/8 - cos(2*q2 + 2*q3 + q4 + q5 + 2*q6)/8 - (3*cos(2*q2 + 2*q3 - 2*q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q6))/16 + cos(2*q2 + 2*q3 + q4 - q5 - 2*q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - 2*q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 + 2*q6)/8 - cos(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/16 - cos(2*q2 + 2*q3 - q4 - q5 - 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + 2*q6)/8 - cos(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/16 - cos(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/64 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/64 - cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/64) + dq5*(c2*c4^2*s3*s5 - c3*s2*s5 - c2*s3*s5 + c3*c4^2*s2*s5 + 2*c2*c6^2*s3*s5 + 2*c3*c6^2*s2*s5 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c6*s4*s6 - 2*c6*s2*s3*s4*s6 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) - dq6*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) - dq4*(s2*s3*s4*s5 - 2*c2*c6*s3*s6 - 2*c3*c6*s2*s6 - c2*c3*s4*s5 + 2*c2*c3*c6^2*s4*s5 + 2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c6^2*s2*s3*s4*s5 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4 + 2*c2*c3*c4*c5*c6*s5*s6 - 2*c4*c5*c6*s2*s3*s5*s6)) + ddq4r*(c4*s5 - 2*c4*c6^2*s5 + 2*c5*c6*s4*s5*s6) + ddq2r*(2*c4^2*c6*s6 - 2*c5^2*c6*s6 - 2*c4*c5*s4 + 4*c4*c5*c6^2*s4 + 2*c4^2*c5^2*c6*s6) + ddq3r*(2*c4^2*c6*s6 - 2*c5^2*c6*s6 - 2*c4*c5*s4 + 4*c4*c5*c6^2*s4 + 2*c4^2*c5^2*c6*s6) - dq4r*(dq2*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq4*(2*c6^2*s4*s5 - s4*s5 + 2*c4*c5*c6*s5*s6) - dq6*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq3*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq1*(2*cos(q2 + q3)*c6^2*s4*s5 - 2*sin(q2 + q3)*c6*s6 - cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4^2*c6*s6 - 2*sin(q2 + q3)*c4*c5*s4 + 2*sin(q2 + q3)*c4^2*c5^2*c6*s6 + 4*sin(q2 + q3)*c4*c5*c6^2*s4 + 2*cos(q2 + q3)*c4*c5*c6*s5*s6) + (dq5*s4*(100000*sin(2*q6) - 200000*c5^2*c6*s6))/100000) + ddq5r*(2*c5*c6^2*s4 - c5*s4 + 2*c4*c6*s6) - dq6r*(dq5*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) - dq4*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq1*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) + dq2*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6) + dq3*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) - dq2r*(dq4*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq5*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) - dq3r*(dq4*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq5*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) + dq5r*(dq2*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq3*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) - dq6*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c4^2*s5 - sin(q2 + q3)*s5 + 2*sin(q2 + q3)*c6^2*s5 - 2*sin(q2 + q3)*c4^2*c6^2*s5 + 2*cos(q2 + q3)*c6*s4*s6 - 2*cos(q2 + q3)*c5^2*c6*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5*s6) + dq5*(s4*s5 - 2*c6^2*s4*s5) - (dq4*s4*(100000*sin(2*q6) - 200000*c5^2*c6*s6))/100000) - ddq1r*(2*sin(q2 + q3)*c4^2*c5 - sin(q2 + q3)*c5 + 2*sin(q2 + q3)*c5*c6^2 + cos(q2 + q3)*c4*s5 - 4*sin(q2 + q3)*c4^2*c5*c6^2 - 2*cos(q2 + q3)*c4*c6^2*s5 + 2*sin(q2 + q3)*c4*c6*s4*s6 + 2*cos(q2 + q3)*c5*c6*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*c6*s4*s6);
Y(2,19) =- ddq2r*(2*c5*c6*s5 - 2*c4^2*c5*c6*s5 + 2*c4*s4*s5*s6) - ddq3r*(2*c5*c6*s5 - 2*c4^2*c5*c6*s5 + 2*c4*s4*s5*s6) - dq2r*(dq6*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq5*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6)) - dq3r*(dq6*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq5*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6)) - ddq6r*(c4*s6 + c5*c6*s4) - dq4r*(dq2*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq3*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) - dq6*(c5^2*s4*s6 - c4*c5*c6) - dq4*(c4*c6 - 2*c4*c5^2*c6 + c5*s4*s6) + dq1*(cos(q2 + q3)*c4*c6 + cos(q2 + q3)*c5*s4*s6 - 2*cos(q2 + q3)*c4*c5^2*c6 - 2*sin(q2 + q3)*c4*s4*s5*s6 + 2*sin(q2 + q3)*c4^2*c5*c6*s5) - 2*dq5*c5*c6*s4*s5) - ddq4r*(2*c5^2*c6*s4 - c6*s4 + c4*c5*s6) - ddq1r*(cos(q2 + q3)*c6*s4 - sin(q2 + q3)*s5*s6 + 2*sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - 2*cos(q2 + q3)*c5^2*c6*s4 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5) - dq1r*(dq6*(cos(q2 + q3)*c5^2*s4*s6 + sin(q2 + q3)*c4^2*c6*s5 - (cos(q2 + q3)*c4*c5*c6)/2 - (c2*c3*c4*c5*c6)/2 + (c4*c5*c6*s2*s3)/2 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq1*((3*cos(2*q2 + 2*q3 + 2*q5 - q6))/16 - (3*cos(2*q2 + 2*q3 - 2*q5 - q6))/16 - cos(2*q2 + 2*q3 + q4 + q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 - q5 + q6)/8 - cos(2*q2 + 2*q3 - q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - cos(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + cos(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 - cos(2*q2 + 2*q3 + q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + q5 - q6)/8 - cos(2*q2 + 2*q3 - q4 - q5 + q6)/8 + cos(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 + cos(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + cos(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - cos(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*cos(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*cos(2*q2 + 2*q3 + 2*q5 + q6))/16 + cos(2*q2 + 2*q3 + q4 + q5 + q6)/8 + cos(2*q2 + 2*q3 - q4 - q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 + cos(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 - cos(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 + cos(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 - cos(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 - cos(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 + cos(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32) - dq5*(c2*c5*s3*s6 + c3*c5*s2*s6 - c2*c4^2*c5*s3*s6 - c3*c4^2*c5*s2*s6 + c2*c4*c6*s3*s4 + c3*c4*c6*s2*s4 - 2*c2*c3*c5*c6*s4*s5 + 2*c5*c6*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6*s3*s4 - 2*c3*c4*c5^2*c6*s2*s4) + dq4*(c2*c3*c4*c6 - c4*c6*s2*s3 + 2*c4*c5^2*c6*s2*s3 + c2*c3*c5*s4*s6 - c5*s2*s3*s4*s6 - 2*c2*c3*c4*c5^2*c6 - 2*c2*c4*s3*s4*s5*s6 - 2*c3*c4*s2*s4*s5*s6 + 2*c2*c4^2*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s2*s5)) - dq5r*(dq2*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) + dq3*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) - dq1*((cos(q2 + q3)*s4*s6)/100 + sin(q2 + q3)*c5*s6 + (sin(q2 + q3)*c6*s5)/100 - sin(q2 + q3)*c4^2*c5*s6 - (cos(q2 + q3)*c4*c5*c6)/100 + sin(q2 + q3)*c4*c6*s4 - 2*cos(q2 + q3)*c5*c6*s4*s5 - 2*sin(q2 + q3)*c4*c5^2*c6*s4) + dq5*c5*s4*s6 - 2*dq4*c5*c6*s4*s5) - dq6r*(dq1*(cos(q2 + q3)*c5^2*s4*s6 + sin(q2 + q3)*c4^2*c6*s5 - cos(q2 + q3)*c4*c5*c6 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq3*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq6*(c4*c6 - c5*s4*s6) - dq4*(c5^2*s4*s6 - c4*c5*c6)) - ddq5r*s4*s5*s6;
Y(2,20) =dq4r*(dq2*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq3*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq6*(c5^2*c6*s4 + c4*c5*s6) + dq4*(2*c4*c5^2*s6 - c4*s6 + c5*c6*s4) + dq1*(cos(q2 + q3)*c4*s6 - cos(q2 + q3)*c5*c6*s4 - 2*cos(q2 + q3)*c4*c5^2*s6 + 2*sin(q2 + q3)*c4*c6*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*s5*s6) - 2*dq5*c5*s4*s5*s6) - ddq3r*(2*c4^2*c5*s5*s6 - 2*c5*s5*s6 + 2*c4*c6*s4*s5) - ddq6r*(c4*c6 - c5*s4*s6) - ddq2r*(2*c4^2*c5*s5*s6 - 2*c5*s5*s6 + 2*c4*c6*s4*s5) - ddq4r*(s4*s6 - 2*c5^2*s4*s6 + c4*c5*c6) - dq5r*(dq2*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) - dq1*((cos(q2 + q3)*c6*s4)/100 + sin(q2 + q3)*c5*c6 - (sin(q2 + q3)*s5*s6)/100 + (cos(q2 + q3)*c4*c5*s6)/100 - sin(q2 + q3)*c4*s4*s6 - sin(q2 + q3)*c4^2*c5*c6 + 2*cos(q2 + q3)*c5*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*s4*s6) + dq3*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) + dq5*c5*c6*s4 + 2*dq4*c5*s4*s5*s6) + ddq1r*(cos(q2 + q3)*s4*s6 + sin(q2 + q3)*c6*s5 - 2*cos(q2 + q3)*c5^2*s4*s6 - 2*sin(q2 + q3)*c4^2*c6*s5 + cos(q2 + q3)*c4*c5*c6 + 2*sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2r*(dq6*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq4*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) - dq5*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4)) + dq3r*(dq6*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq4*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) - dq5*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4)) + dq6r*(dq1*(sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - cos(q2 + q3)*c5^2*c6*s4 + sin(q2 + q3)*c4*c5*c6*s4*s5) + dq2*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq3*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq6*(c4*s6 + c5*c6*s4) + dq4*(c5^2*c6*s4 + c4*c5*s6)) + dq1r*(dq5*(c2*c5*c6*s3 + c3*c5*c6*s2 - c2*c4*s3*s4*s6 - c3*c4*s2*s4*s6 - c2*c4^2*c5*c6*s3 - c3*c4^2*c5*c6*s2 + 2*c2*c3*c5*s4*s5*s6 - 2*c5*s2*s3*s4*s5*s6 + 2*c2*c4*c5^2*s3*s4*s6 + 2*c3*c4*c5^2*s2*s4*s6) + dq4*(c2*c3*c4*s6 - c4*s2*s3*s6 + 2*c4*c5^2*s2*s3*s6 - c2*c3*c5*c6*s4 + c5*c6*s2*s3*s4 - 2*c2*c3*c4*c5^2*s6 + 2*c2*c4*c6*s3*s4*s5 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) + dq1*((3*sin(2*q2 + 2*q3 - 2*q5 - q6))/16 - (3*sin(2*q2 + 2*q3 + 2*q5 - q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 - q6)/8 + sin(2*q2 + 2*q3 + q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 + q6)/16 + sin(2*q2 + 2*q3 + q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 + q6)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 + q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - q4 - 2*q5 + q6)/8 + sin(2*q2 + 2*q3 - q4 + 2*q5 + q6)/8 - sin(2*q2 + 2*q3 - 2*q4 + q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - q5 + q6)/16 + sin(2*q2 + 2*q3 + 2*q4 + q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 + q6)/16 - sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + q6)/32 - (3*sin(2*q2 + 2*q3 - 2*q5 + q6))/16 + (3*sin(2*q2 + 2*q3 + 2*q5 + q6))/16 + sin(2*q2 + 2*q3 + q4 + q5 + q6)/8 - sin(2*q2 + 2*q3 - q4 - q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5 - q6)/8 - sin(2*q2 + 2*q3 - q4 + 2*q5 - q6)/8 + sin(2*q2 + 2*q3 - 2*q4 - q5 - q6)/16 - sin(2*q2 + 2*q3 + 2*q4 - q5 - q6)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - q6)/32) + dq6*(sin(q2 + q3)*c4^2*s5*s6 - (sin(q2 + q3)*s5*s6)/2 - (cos(q2 + q3)*c4*c5*s6)/2 + (c2*s3*s5*s6)/2 + (c3*s2*s5*s6)/2 - cos(q2 + q3)*c5^2*c6*s4 - (c2*c3*c4*c5*s6)/2 + (c4*c5*s2*s3*s6)/2 + sin(q2 + q3)*c4*c5*c6*s4*s5)) - ddq5r*c6*s4*s5;
Y(2,21) =dq4r*(dq2*(sin(2*q4)/2 - c4*c5^2*s4) + dq3*(sin(2*q4)/2 - c4*c5^2*s4) - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 + sin(q2 + q3)*c4^2*c5^2 + cos(q2 + q3)*c4*c5*s5) + (dq6*c4*s5)/2 + (dq5*s4*(100000*c5^2 - 50000))/100000 + dq4*c4*c5*s5) - ddq2r*(c4^2 + c5^2 - c4^2*c5^2 - 1) - ddq3r*(c4^2 + c5^2 - c4^2*c5^2 - 1) - ddq1r*(sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + cos(q2 + q3)*c5*s4*s5) + dq5r*(dq1*((cos(q2 + q3)*s4)/2 + (sin(q2 + q3)*c5)/100 - cos(q2 + q3)*c5^2*s4 + (cos(q2 + q3)*c4*s5)/100 + sin(q2 + q3)*c4*c5*s4*s5) + dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + (dq6*c5*s4)/2 + (dq4*s4*(100000*c5^2 - 50000))/100000) + dq2r*(dq4*(sin(2*q4)/2 - c4*c5^2*s4) + dq5*(c5*s5 - c4^2*c5*s5)) + dq3r*(dq4*(sin(2*q4)/2 - c4*c5^2*s4) + dq5*(c5*s5 - c4^2*c5*s5)) + dq6r*((dq4*c4*s5)/2 - dq1*((sin(q2 + q3)*c5)/2 + (cos(q2 + q3)*c4*s5)/2) + (dq5*c5*s4)/2) - dq1r*(dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2 + c2*c3*c4*c5*s5 - c4*c5*s2*s3*s5) - dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 - sin(2*q2 + 2*q3 - 2*q4)/16 - sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 + sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) - dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq6*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2)) + ddq6r*s4*s5 + ddq4r*c5*s4*s5;
Y(2,22) =0;
Y(2,23) =0;
Y(2,24) =(3*dq1*dq1r*s2)/20 - (981*c2)/100;
Y(2,25) =-(dq1*dq1r*sin(2*q2))/2;
Y(2,26) =-ddq1r*s2;
Y(2,27) =ddq2r;
Y(2,28) =(981*s2*s3)/100 - (981*c2*c3)/100 - dq3r*((59*dq2*s3)/100 + (59*dq3*s3)/100) + (59*ddq2r*c3)/50 + (59*ddq3r*c3)/100 - (59*dq3*dq2r*s3)/100 + dq1*dq1r*((59*sin(2*q2 + q3))/100 + (3*sin(q2 + q3))/20);
Y(2,29) =(981*c2*s3)/100 + (981*c3*s2)/100 - dq3r*((59*dq2*c3)/100 + (59*dq3*c3)/100) - (59*ddq2r*s3)/50 - (59*ddq3r*s3)/100 + dq1*dq1r*((59*cos(2*q2 + q3))/100 + (3*cos(q2 + q3))/20) - (59*dq3*dq2r*c3)/100;
Y(2,30) =-(dq1*dq1r*sin(2*q2 + 2*q3))/2;
Y(2,31) =-dq1*dq1r*cos(2*q2 + 2*q3);
Y(2,32) =ddq2r + ddq3r;
Y(2,33) =dq2r*(dq4*((13*c4)/100 + (59*c3*c4)/100) - (59*dq3*s3*s4)/100) + dq4r*(dq2*((13*c4)/100 + (59*c3*c4)/100) + dq3*((13*c4)/100 + (59*c3*c4)/100) - dq1*((59*s2*s4)/200 + (13*sin(q2 + q3)*s4)/100 - (59*cos(q2 + q3)*s3*s4)/200 + (59*sin(q2 + q3)*c3*s4)/200) - (59*dq4*s3*s4)/100) + ddq2r*((13*s4)/50 + (59*c3*s4)/50) + ddq3r*((13*s4)/50 + (59*c3*s4)/100) + ddq1r*((13*sin(q2 + q3)*c4)/100 - (59*cos(q2 + q3)*c4*s3)/100 + (59*sin(q2 + q3)*c3*c4)/100) - dq3r*((59*dq2*s3*s4)/100 - dq4*((13*c4)/100 + (59*c3*c4)/100) + (59*dq3*s3*s4)/100) - dq1r*(dq1*((3*cos(q2 + q3 + q4))/40 - (13*cos(2*q2 + 2*q3 - q4))/200 - (3*cos(q2 + q3 - q4))/40 + (59*cos(2*q2 + q3 + q4))/200 - (59*cos(2*q2 + q3 - q4))/200 + (13*cos(2*q2 + 2*q3 + q4))/200) + dq4*((59*s2*s4)/100 + (13*c2*s3*s4)/100 + (13*c3*s2*s4)/100)) - s4*((981*c2*c3)/100 - (981*s2*s3)/100) + (59*ddq4r*c4*s3)/100;
Y(2,34) =dq4r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2)) - ddq2r*(c4^2 - 1) - ddq3r*(c4^2 - 1) - dq1r*(dq1*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 + sin(2*q2 + 2*q3)/4) + dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) + (dq4*dq2r*sin(2*q4))/2 + (dq4*dq3r*sin(2*q4))/2 + ddq1r*sin(q2 + q3)*c4*s4;
Y(2,35) =dq1r*((dq1*sin(2*q2 + 2*q3))/2 - dq4*((c2*s3)/2 + (c3*s2)/2)) - (dq1*dq4r*sin(q2 + q3))/2;
Y(2,36) =dq1r*(dq1*(sin(2*q2 + 2*q3 - q4)/2 - sin(2*q2 + 2*q3 + q4)/2) - dq4*(s2*s3*s4 - c2*c3*s4)) - dq4r*(dq4*s4 - dq1*cos(q2 + q3)*s4) + ddq4r*c4 - ddq1r*cos(q2 + q3)*c4;
Y(2,37) =dq1r*(dq1*((64707*sin(2*q2 + 2*q3 - q4 - q5))/400000 - (13*cos(2*q2 + 2*q3 - q4 - q5))/400 + (3*cos(q2 + q3 + q5))/40 + (13*cos(2*q2 + 2*q3 - q5))/200 - (64707*sin(2*q2 + 2*q3 - q5))/200000 - (3*cos(q2 + q3 - q4 - q5))/80 - (59*cos(2*q2 + q3 + q4 - q5))/400 + (59*cos(2*q2 + q3 - q4 + q5))/400 + (13*cos(2*q2 + 2*q3 + q4 + q5))/400 - (64707*sin(2*q2 + 2*q3 + q4 + q5))/400000 + (3*cos(q2 + q3 - q5))/40 + (59*cos(2*q2 + q3 + q5))/200 + (3*cos(q2 + q3 + q4 + q5))/80 - (59*cos(2*q2 + q3 - q4 - q5))/400 - (13*cos(2*q2 + 2*q3 + q4 - q5))/400 + (13*cos(2*q2 + 2*q3 - q4 + q5))/400 + (64707*sin(2*q2 + 2*q3 + q4 - q5))/400000 - (64707*sin(2*q2 + 2*q3 - q4 + q5))/400000 + (59*cos(2*q2 + q3 - q5))/200 + (13*cos(2*q2 + 2*q3 + q5))/200 - (64707*sin(2*q2 + 2*q3 + q5))/200000 - (3*cos(q2 + q3 + q4 - q5))/80 + (3*cos(q2 + q3 - q4 + q5))/80 + (59*cos(2*q2 + q3 + q4 + q5))/400) + dq4*((59*c4*s2*s5)/100 + (64707*c2*c3*c4*s5)/100000 + (13*c2*c4*s3*s5)/100 + (13*c3*c4*s2*s5)/100 - (64707*c4*s2*s3*s5)/100000) + dq5*((59*c5*s2*s4)/100 + (64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000)) - dq2r*(dq3*((59*c3*c5)/100 - (59*c4*s3*s5)/100) - dq4*((13*s4*s5)/100 + (59*c3*s4*s5)/100) + dq5*((64707*s5)/100000 + (13*c4*c5)/100 - (59*s3*s5)/100 + (59*c3*c4*c5)/100)) + dq4r*(dq2*((13*s4*s5)/100 + (59*c3*s4*s5)/100) - dq4*((64707*c4*s5)/100000 - (59*c4*s3*s5)/100) + dq3*((13*s4*s5)/100 + (59*c3*s4*s5)/100) + dq1*((64707*cos(q2 + q3)*c4*s5)/100000 + (13*sin(q2 + q3)*c4*s5)/100 + (59*c4*s2*s5)/200 - (59*cos(q2 + q3)*c4*s3*s5)/200 + (59*sin(q2 + q3)*c3*c4*s5)/200) - (dq5*s4*(64707*c5 - 59000*c5*s3))/100000) + ddq1r*((64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100 - (59*cos(q2 + q3)*s3*s4*s5)/100 + (59*sin(q2 + q3)*c3*s4*s5)/100) - dq3r*(dq2*((59*c3*c5)/100 - (59*c4*s3*s5)/100) + dq3*((59*c3*c5)/100 - (59*c4*s3*s5)/100) - dq4*((13*s4*s5)/100 + (59*c3*s4*s5)/100) + dq5*((64707*s5)/100000 + (13*c4*c5)/100 - (59*s3*s5)/100 + (59*c3*c4*c5)/100)) - ddq4r*((64707*s4*s5)/100000 - (59*s3*s4*s5)/100) - ddq2r*((59*c5*s3)/50 - (64707*c5)/50000 + (13*c4*s5)/50 + (59*c3*c4*s5)/50) - ddq3r*((59*c5*s3)/100 - (64707*c5)/50000 + (13*c4*s5)/50 + (59*c3*c4*s5)/100) - ddq5r*((13*s5)/100 - (64707*c4*c5)/100000 + (59*c3*s5)/100 + (59*c4*c5*s3)/100) - dq5r*(dq2*((64707*s5)/100000 + (13*c4*c5)/100 - (59*s3*s5)/100 + (59*c3*c4*c5)/100) + dq3*((64707*s5)/100000 + (13*c4*c5)/100 - (59*s3*s5)/100 + (59*c3*c4*c5)/100) + dq5*((13*c5)/100 + (59*c3*c5)/100 + (64707*c4*s5)/100000 - (59*c4*s3*s5)/100) - dq1*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100 + (59*c5*s2*s4)/200 - (59*cos(q2 + q3)*c5*s3*s4)/200 + (59*sin(q2 + q3)*c3*c5*s4)/200) + (dq4*s4*(64707*c5 - 59000*c5*s3))/100000) + c4*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s4^2*((981*c2*s3)/100 + (981*c3*s2)/100);
Y(2,38) =ddq2r*(c5^2 - c4^2*c5^2) + ddq3r*(c5^2 - c4^2*c5^2) - dq2r*(dq5*(c5*s5 - c4^2*c5*s5) - dq4*c4*c5^2*s4) - dq3r*(dq5*(c5*s5 - c4^2*c5*s5) - dq4*c4*c5^2*s4) - dq5r*(dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c5^2*s4 + sin(q2 + q3)*c4*c5*s4*s5) + (dq4*s4*(100000*c5^2 - 50000))/100000) + dq4r*(dq1*(sin(q2 + q3)*c4^2*c5^2 - sin(q2 + q3)/2 + cos(q2 + q3)*c4*c5*s5) - (dq5*s4*(100000*c5^2 - 50000))/100000 - dq4*c4*c5*s5 + dq2*c4*c5^2*s4 + dq3*c4*c5^2*s4) - dq1r*(dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/8 - sin(2*q2 + 2*q3 - q4 - 2*q5)/8 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/32 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/32 + sin(2*q2 + 2*q3 - 2*q4)/16 + sin(2*q2 + 2*q3 + 2*q4)/16 + (3*sin(2*q2 + 2*q3 - 2*q5))/16 + (3*sin(2*q2 + 2*q3 + 2*q5))/16 - sin(2*q2 + 2*q3)/8 - sin(2*q2 + 2*q3 + q4 - 2*q5)/8 + sin(2*q2 + 2*q3 + q4 + 2*q5)/8) + dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2 - c2*c3*c4*c5*s5 + c4*c5*s2*s3*s5)) + ddq1r*(sin(q2 + q3)*c4*c5^2*s4 + cos(q2 + q3)*c5*s4*s5) - ddq4r*c5*s4*s5;
Y(2,39) =dq1r*(dq1*(sin(2*q2 + 2*q3 - 2*q4)/8 + sin(2*q2 + 2*q3 + 2*q4)/8 - sin(2*q2 + 2*q3)/4) - dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) - dq4r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2) + (dq5*s4)/2) - dq5r*((dq4*s4)/2 - (dq1*cos(q2 + q3)*s4)/2) + ddq5r*c4 + ddq2r*c4^2 + ddq3r*c4^2 - (dq4*dq2r*sin(2*q4))/2 - (dq4*dq3r*sin(2*q4))/2 - ddq1r*sin(q2 + q3)*c4*s4;
Y(2,40) =ddq5r*(c4 - c4*c6^2 + c5*c6*s4*s6) - ddq4r*(c5*c6^2*s4*s5 + c4*c6*s5*s6) + dq6r*(dq4*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq3*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq5*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) - dq1*(sin(q2 + q3)*c4^2*c5 - (sin(q2 + q3)*c5)/2 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6)) - dq5r*(dq2*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq6*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq3*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c6^2*s4 + cos(q2 + q3)*c5^2*c6^2*s4 + sin(q2 + q3)*c6*s5*s6 - sin(q2 + q3)*c4^2*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6^2*s4*s5) + (dq4*s4*(100000*c5^2*c6^2 - 100000*c6^2 + 50000))/100000 + dq5*c6*s4*s5*s6) - dq1r*(dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2 + c2*c3*c6^2*s4 - c6^2*s2*s3*s4 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c6*s3*s5*s6 - c3*c6*s2*s5*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 - c2*c6^2*s3 - c3*c6^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - c2*c3*c6*s4*s5*s6 + c6*s2*s3*s4*s5*s6 + c2*c3*c4*c5*c6^2*s5 - c4*c5*c6^2*s2*s3*s5 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq6*(sin(q2 + q3)*c4^2*c5 - (sin(q2 + q3)*c5)/2 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6) + dq1*(sin(2*q2 + 2*q3 - q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5)/16 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5)/64 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5)/64 + (3*sin(2*q2 + 2*q3 - 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q4 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 - 2*q5 + 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 - 2*q6))/64 + (3*sin(2*q2 + 2*q3 + 2*q5 + 2*q6))/64 - sin(2*q2 + 2*q3 + q4 + q5 - 2*q6)/16 + sin(2*q2 + 2*q3 + q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - 2*q4)/32 - sin(2*q2 + 2*q3 + 2*q4)/32 + (3*sin(2*q2 + 2*q3 - 2*q5))/32 + (3*sin(2*q2 + 2*q3 + 2*q5))/32 - (3*sin(2*q2 + 2*q3 - 2*q6))/32 - (3*sin(2*q2 + 2*q3 + 2*q6))/32 + sin(2*q2 + 2*q3)/16 + sin(2*q2 + 2*q3 + q4 - q5 - 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - q5 + 2*q6)/16 + sin(2*q2 + 2*q3 - q4 + q5 - 2*q6)/16 - sin(2*q2 + 2*q3 - q4 + q5 + 2*q6)/16 - sin(2*q2 + 2*q3 + q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 + q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 + q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 + q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + q4 - 2*q5)/16 + sin(2*q2 + 2*q3 + q4 + 2*q5)/16 - sin(2*q2 + 2*q3 - q4 - q5 - 2*q6)/16 + sin(2*q2 + 2*q3 - q4 - q5 + 2*q6)/16 - sin(2*q2 + 2*q3 - q4 - 2*q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - q4 - 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 - 2*q6)/32 + sin(2*q2 + 2*q3 - q4 + 2*q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - q5 - 2*q6)/32 - sin(2*q2 + 2*q3 - 2*q4 - q5 + 2*q6)/32 - sin(2*q2 + 2*q3 + 2*q4 - q5 - 2*q6)/32 + sin(2*q2 + 2*q3 + 2*q4 - q5 + 2*q6)/32 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 - 2*q4 + 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 - 2*q5 + 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 - 2*q6)/128 + sin(2*q2 + 2*q3 + 2*q4 + 2*q5 + 2*q6)/128)) + ddq2r*(c4^2 - c4^2*c6^2 + c5^2*c6^2 - c4^2*c5^2*c6^2 + 2*c4*c5*c6*s4*s6) + ddq3r*(c4^2 - c4^2*c6^2 + c5^2*c6^2 - c4^2*c5^2*c6^2 + 2*c4*c5*c6*s4*s6) + dq2r*(dq6*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq4*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - dq5*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6)) + dq3r*(dq6*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq4*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - dq5*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6)) + dq4r*(dq6*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) - dq4*(c4*c5*c6^2*s5 - c6*s4*s5*s6) + dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 - sin(q2 + q3)*c6^2 + sin(q2 + q3)*c4^2*c6^2 + sin(q2 + q3)*c4^2*c5^2*c6^2 - cos(q2 + q3)*c6*s4*s5*s6 + cos(q2 + q3)*c4*c5*c6^2*s5 - 2*sin(q2 + q3)*c4*c5*c6*s4*s6) + dq2*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq3*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - (dq5*s4*(100000*c5^2*c6^2 - 100000*c6^2 + 50000))/100000) + ddq1r*(sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*s4 - sin(q2 + q3)*c5*c6*s6 + sin(q2 + q3)*c4*c5^2*c6^2*s4 + cos(q2 + q3)*c4*c6*s5*s6 + cos(q2 + q3)*c5*c6^2*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*c6*s6);
Y(2,41) =0;
Y(2,42) =0;
Y(2,43) =0;
Y(2,44) =153*dq2r;
Y(2,45) =0;
Y(2,46) =0;
Y(2,47) =0;
Y(2,48) =0;
Y(2,49) =0;
Y(2,50) =0;
Y(2,51) =0;
Y(2,52) =0;
Y(3,1) =0;
Y(3,2) =0;
Y(3,3) =0;
Y(3,4) =ddq1r*sin(q2 + q3);
Y(3,5) =ddq1r*cos(q2 + q3);
Y(3,6) =ddq3r;
Y(3,7) =dq1r*(dq1*((59*c2^2*c4*s3)/100 - (13*c2*c4*s2)/50 + (3*c2*c4*s3)/20 + (3*c3*c4*s2)/20 - (13*c3*c4*s3)/50 + (13*c2*c3^2*c4*s2)/25 + (13*c2^2*c3*c4*s3)/25 + (59*c2*c3*c4*s2)/100) - dq4*((13*c2*c4*s3)/100 + (13*c3*c4*s2)/100)) - dq2r*((13*dq4*s4)/100 - (59*dq2*c4*s3)/100) + ddq2r*((13*c4)/50 + (59*c3*c4)/100) + (13*ddq3r*c4)/50 - dq4r*((13*dq2*s4)/100 + (13*dq3*s4)/100 + (13*dq1*sin(q2 + q3)*c4)/100) - c4*((981*c2*c3)/100 - (981*s2*s3)/100) - (13*dq4*dq3r*s4)/100 - (13*ddq1r*sin(q2 + q3)*s4)/100;
Y(3,8) =dq1r*(dq1*(2*c2^2*c4 - c4 + 2*c3^2*c4 - 4*c2^2*c3^2*c4 + 4*c2*c3*c4*s2*s3) + dq4*(c2*c3*c4 - c4*s2*s3)) - ddq4r*s4 - dq4r*(dq4*c4 - dq1*cos(q2 + q3)*c4) + ddq1r*cos(q2 + q3)*s4;
Y(3,9) =ddq1r*(sin(q2 + q3) - 2*sin(q2 + q3)*c4^2) - ddq3r*sin(2*q4) - ddq2r*sin(2*q4) + dq1r*(dq4*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4) + dq1*(2*c2*c4*s2*s4 + 2*c3*c4*s3*s4 - 4*c2*c3^2*c4*s2*s4 - 4*c2^2*c3*c4*s3*s4)) - dq4r*(dq2*(2*c4^2 - 1) + dq3*(2*c4^2 - 1) - 2*dq1*sin(q2 + q3)*c4*s4) - dq4*dq2r*(2*c4^2 - 1) - dq4*dq3r*(2*c4^2 - 1);
Y(3,10) =0;
Y(3,11) =dq3r*(dq5*((64707*c5)/100000 - (13*c4*s5)/100) - (13*dq4*c5*s4)/100) + dq2r*(dq2*((59*c3*s5)/100 + (59*c4*c5*s3)/100) + dq5*((64707*c5)/100000 - (13*c4*s5)/100) - (13*dq4*c5*s4)/100) + dq1r*(dq1*((13*s5)/100 + (64707*c4*c5)/100000 - (13*c2^2*s5)/50 - (13*c3^2*s5)/50 - (3*s2*s3*s5)/20 - (64707*c2^2*c4*c5)/50000 - (64707*c3^2*c4*c5)/50000 + (59*c2^2*c3*s5)/100 + (13*c2^2*c3^2*s5)/25 + (3*c2*c3*s5)/20 + (64707*c2*s2*s5)/50000 + (64707*c3*s3*s5)/50000 + (59*c2^2*c4*c5*s3)/100 - (64707*c2*c3^2*s2*s5)/25000 - (64707*c2^2*c3*s3*s5)/25000 + (64707*c2^2*c3^2*c4*c5)/25000 - (13*c2*c4*c5*s2)/50 + (3*c2*c4*c5*s3)/20 + (3*c3*c4*c5*s2)/20 - (13*c3*c4*c5*s3)/50 - (59*c2*s2*s3*s5)/100 + (59*c2*c3*c4*c5*s2)/100 - (13*c2*c3*s2*s3*s5)/25 + (13*c2*c3^2*c4*c5*s2)/25 + (13*c2^2*c3*c4*c5*s3)/25 - (64707*c2*c3*c4*c5*s2*s3)/25000) - dq4*((64707*c2*c3*c4*c5)/100000 + (13*c2*c4*c5*s3)/100 + (13*c3*c4*c5*s2)/100 - (64707*c4*c5*s2*s3)/100000) + dq5*((64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000)) + ddq3r*((64707*s5)/50000 + (13*c4*c5)/50) + ddq5r*((13*c5)/100 + (64707*c4*s5)/100000) + ddq2r*((64707*s5)/50000 + (13*c4*c5)/50 - (59*s3*s5)/100 + (59*c3*c4*c5)/100) - dq4r*(dq1*((64707*cos(q2 + q3)*c4*c5)/100000 + (13*sin(q2 + q3)*c4*c5)/100) - (64707*dq4*c4*c5)/100000 + (13*dq2*c5*s4)/100 + (13*dq3*c5*s4)/100 + (64707*dq5*s4*s5)/100000) - ddq1r*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100) + dq5r*(dq2*((64707*c5)/100000 - (13*c4*s5)/100) + dq3*((64707*c5)/100000 - (13*c4*s5)/100) - dq5*((13*s5)/100 - (64707*c4*c5)/100000) + dq1*((64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100) - (64707*dq4*s4*s5)/100000) - c4*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) + s4^2*s5*((981*c2*s3)/100 + (981*c3*s2)/100) + (64707*ddq4r*c5*s4)/100000;
Y(3,12) =ddq1r*(2*sin(q2 + q3)*c4^2*c5 - sin(q2 + q3)*c5 + cos(q2 + q3)*c4*s5) - dq5r*(dq5*s4*s5 - dq1*(sin(q2 + q3)*s5 - sin(q2 + q3)*c4^2*s5) + dq2*c4*s4*s5 + dq3*c4*s4*s5) - dq2r*(dq4*(c5 - 2*c4^2*c5) + dq5*c4*s4*s5) - dq3r*(dq4*(c5 - 2*c4^2*c5) + dq5*c4*s4*s5) - dq4r*(dq2*(c5 - 2*c4^2*c5) + dq3*(c5 - 2*c4^2*c5) + dq1*(cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4*c5*s4) - dq4*s4*s5) - dq1r*(dq1*(2*c2^2*s4*s5 - s4*s5 + 2*c3^2*s4*s5 - 4*c2^2*c3^2*s4*s5 + 2*c2*c4*c5*s2*s4 + 2*c3*c4*c5*s3*s4 + 4*c2*c3*s2*s3*s4*s5 - 4*c2*c3^2*c4*c5*s2*s4 - 4*c2^2*c3*c4*c5*s3*s4) + dq4*(c2*c3*s4*s5 - s2*s3*s4*s5 + 2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) - dq5*(c2*s3*s5 + c3*s2*s5 - c2*c4^2*s3*s5 - c3*c4^2*s2*s5)) - ddq4r*c4*s5 + ddq5r*c5*s4 + 2*ddq2r*c4*c5*s4 + 2*ddq3r*c4*c5*s4;
Y(3,13) =dq1r*(dq5*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) - dq4*(c2*c3*c4 - c4*s2*s3 - 2*c2*c3*c4*c5^2 + 2*c4*c5^2*s2*s3 + 2*c2*c4^2*c5*s3*s5 + 2*c3*c4^2*c5*s2*s5) + dq1*(c4 - 2*c2^2*c4 - 2*c3^2*c4 - 2*c4*c5^2 + 4*c2^2*c3^2*c4 + 4*c2^2*c4*c5^2 + 4*c3^2*c4*c5^2 - 8*c2^2*c3^2*c4*c5^2 - 2*c2*c5*s2*s5 - 2*c3*c5*s3*s5 + 4*c2*c3^2*c5*s2*s5 - 2*c2*c4^2*c5*s2*s5 + 4*c2^2*c3*c5*s3*s5 - 2*c3*c4^2*c5*s3*s5 - 4*c2*c3*c4*s2*s3 + 4*c2*c3^2*c4^2*c5*s2*s5 + 4*c2^2*c3*c4^2*c5*s3*s5 + 8*c2*c3*c4*c5^2*s2*s3)) - dq5r*(dq2*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq3*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq1*(2*sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + 2*cos(q2 + q3)*c5*s4*s5) - dq4*sin(2*q5)*s4) + ddq4r*(s4 - 2*c5^2*s4) - dq2r*(dq5*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + 2*dq4*c4*c5*s4*s5) - dq3r*(dq5*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + 2*dq4*c4*c5*s4*s5) - ddq1r*(cos(q2 + q3)*s4 - 2*cos(q2 + q3)*c5^2*s4 + 2*sin(q2 + q3)*c4*c5*s4*s5) - ddq2r*(sin(2*q5) - 2*c4^2*c5*s5) - ddq3r*(sin(2*q5) - 2*c4^2*c5*s5) - dq4r*(dq1*(cos(q2 + q3)*c4 - 2*cos(q2 + q3)*c4*c5^2 + 2*sin(q2 + q3)*c4^2*c5*s5) - dq4*(c4 - 2*c4*c5^2) - dq5*sin(2*q5)*s4 + 2*dq2*c4*c5*s4*s5 + 2*dq3*c4*c5*s4*s5);
Y(3,14) =dq4r*(dq2*(s5 - 2*c4^2*s5) + dq3*(s5 - 2*c4^2*s5) - dq1*(cos(q2 + q3)*c5*s4 - 2*sin(q2 + q3)*c4*s4*s5) + dq4*c5*s4) - dq5r*(dq5*c5*s4 - dq1*(sin(q2 + q3)*c5 - sin(q2 + q3)*c4^2*c5) + dq2*c4*c5*s4 + dq3*c4*c5*s4) + dq1r*(dq4*(c5*s2*s3*s4 - c2*c3*c5*s4 + 2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) - dq1*(2*c2^2*c5*s4 - c5*s4 + 2*c3^2*c5*s4 - 4*c2^2*c3^2*c5*s4 - 2*c2*c4*s2*s4*s5 - 2*c3*c4*s3*s4*s5 + 4*c2*c3*c5*s2*s3*s4 + 4*c2*c3^2*c4*s2*s4*s5 + 4*c2^2*c3*c4*s3*s4*s5) + dq5*(c2*c5*s3 + c3*c5*s2 - c2*c4^2*c5*s3 - c3*c4^2*c5*s2)) + dq2r*(dq4*(s5 - 2*c4^2*s5) - dq5*c4*c5*s4) + dq3r*(dq4*(s5 - 2*c4^2*s5) - dq5*c4*c5*s4) + ddq1r*(sin(q2 + q3)*s5 - 2*sin(q2 + q3)*c4^2*s5 + cos(q2 + q3)*c4*c5) - ddq4r*c4*c5 - ddq5r*s4*s5 - 2*ddq2r*c4*s4*s5 - 2*ddq3r*c4*s4*s5;
Y(3,15) =0;
Y(3,16) =ddq5r*((13*c5*c6)/100 + (64707*c4*c6*s5)/100000) - dq4r*(dq2*((13*c4*s6)/100 + (13*c5*c6*s4)/100) + dq3*((13*c4*s6)/100 + (13*c5*c6*s4)/100) + dq4*((64707*s4*s6)/100000 - (64707*c4*c5*c6)/100000) - dq6*((64707*c4*c6)/100000 - (64707*c5*s4*s6)/100000) - dq1*((64707*cos(q2 + q3)*s4*s6)/100000 + (13*sin(q2 + q3)*s4*s6)/100 - (64707*cos(q2 + q3)*c4*c5*c6)/100000 - (13*sin(q2 + q3)*c4*c5*c6)/100) + (64707*dq5*c6*s4*s5)/100000) + ddq4r*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000) + ddq3r*((64707*c6*s5)/50000 - (13*s4*s6)/50 + (13*c4*c5*c6)/50) - dq6r*(dq5*((13*c5*s6)/100 + (64707*c4*s5*s6)/100000) - dq4*((64707*c4*c6)/100000 - (64707*c5*s4*s6)/100000) + dq6*((13*c6*s5)/100 + (64707*s4*s6)/100000 - (64707*c4*c5*c6)/100000) + dq2*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq3*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq1*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100)) + ddq6r*((64707*c6*s4)/100000 - (13*s5*s6)/100 + (64707*c4*c5*s6)/100000) + dq2r*(dq5*((64707*c5*c6)/100000 - (13*c4*c6*s5)/100) - dq4*((13*c4*s6)/100 + (13*c5*c6*s4)/100) - dq6*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq2*((59*c3*c6*s5)/100 - (59*s3*s4*s6)/100 + (59*c4*c5*c6*s3)/100)) - dq3r*(dq4*((13*c4*s6)/100 + (13*c5*c6*s4)/100) - dq5*((64707*c5*c6)/100000 - (13*c4*c6*s5)/100) + dq6*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100)) - ddq1r*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 + (13*sin(q2 + q3)*c5*c6*s4)/100) + s4*(s5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) + ddq2r*((64707*c6*s5)/50000 - (13*s4*s6)/50 + (13*c4*c5*c6)/50 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100) - dq5r*(dq5*((13*c6*s5)/100 - (64707*c4*c5*c6)/100000) - dq3*((64707*c5*c6)/100000 - (13*c4*c6*s5)/100) - dq1*((64707*cos(q2 + q3)*c4*c6)/10000000 + (13*sin(q2 + q3)*c4*c6)/10000 - (64707*cos(q2 + q3)*c5*s4*s6)/10000000 + (64707*cos(q2 + q3)*c6*s4*s5)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/10000 + (13*sin(q2 + q3)*c6*s4*s5)/100) + dq6*((13*c5*s6)/100 + (64707*c4*s5*s6)/100000) + dq2*((59*c3*c6*s4)/10000 - (59*s3*s5*s6)/10000 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c5*s6)/10000) + (64707*dq4*c6*s4*s5)/100000) + dq1r*(dq6*((64707*cos(q2 + q3)*c5*s4*s6)/200000 - (64707*c2*c3*c4*c6)/100000 + (13*sin(q2 + q3)*c5*s4*s6)/200 - (13*c2*c4*c6*s3)/100 - (13*c3*c4*c6*s2)/100 + (64707*c4*c6*s2*s3)/100000 + (64707*c2*c3*c5*s4*s6)/200000 + (13*c2*c5*s3*s4*s6)/200 + (13*c3*c5*s2*s4*s6)/200 - (64707*c5*s2*s3*s4*s6)/200000) - dq1*((64707*s4*s6)/100000 - (13*c6*s5)/100 + (13*c2^2*c6*s5)/50 + (13*c3^2*c6*s5)/50 - (64707*c2^2*s4*s6)/50000 - (64707*c3^2*s4*s6)/50000 - (64707*c4*c5*c6)/100000 + (64707*c2^2*c4*c5*c6)/50000 + (64707*c3^2*c4*c5*c6)/50000 - (59*c2^2*c3*c6*s5)/100 + (59*c2^2*s3*s4*s6)/100 - (13*c2^2*c3^2*c6*s5)/25 + (64707*c2^2*c3^2*s4*s6)/25000 - (3*c2*c3*c6*s5)/20 - (64707*c2*c6*s2*s5)/50000 - (64707*c3*c6*s3*s5)/50000 - (13*c2*s2*s4*s6)/50 + (3*c2*s3*s4*s6)/20 + (3*c3*s2*s4*s6)/20 - (13*c3*s3*s4*s6)/50 + (3*c6*s2*s3*s5)/20 + (64707*c2*c3^2*c6*s2*s5)/25000 + (64707*c2^2*c3*c6*s3*s5)/25000 + (13*c2*c3^2*s2*s4*s6)/25 + (13*c2^2*c3*s3*s4*s6)/25 - (64707*c2^2*c3^2*c4*c5*c6)/25000 + (13*c2*c4*c5*c6*s2)/50 - (3*c2*c4*c5*c6*s3)/20 - (3*c3*c4*c5*c6*s2)/20 + (13*c3*c4*c5*c6*s3)/50 + (59*c2*c3*s2*s4*s6)/100 + (59*c2*c6*s2*s3*s5)/100 - (59*c2^2*c4*c5*c6*s3)/100 - (59*c2*c3*c4*c5*c6*s2)/100 + (13*c2*c3*c6*s2*s3*s5)/25 - (64707*c2*c3*s2*s3*s4*s6)/25000 - (13*c2*c3^2*c4*c5*c6*s2)/25 - (13*c2^2*c3*c4*c5*c6*s3)/25 + (64707*c2*c3*c4*c5*c6*s2*s3)/25000) + dq5*((64707*c2*c3*c6*s4*s5)/100000 + (13*c2*c6*s3*s4*s5)/100 + (13*c3*c6*s2*s4*s5)/100 - (64707*c6*s2*s3*s4*s5)/100000) + dq4*((64707*c2*c3*s4*s6)/100000 + (13*c2*s3*s4*s6)/100 + (13*c3*s2*s4*s6)/100 - (64707*s2*s3*s4*s6)/100000 - (64707*c2*c3*c4*c5*c6)/100000 - (13*c2*c4*c5*c6*s3)/100 - (13*c3*c4*c5*c6*s2)/100 + (64707*c4*c5*c6*s2*s3)/100000)) - c4*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(3,17) =ddq4r*((64707*c4*c6)/100000 - (64707*c5*s4*s6)/100000) - dq4r*(dq2*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq3*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq4*((64707*c6*s4)/100000 + (64707*c4*c5*s6)/100000) + dq6*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000) - dq1*((64707*cos(q2 + q3)*c6*s4)/100000 + (13*sin(q2 + q3)*c6*s4)/100 + (64707*cos(q2 + q3)*c4*c5*s6)/100000 + (13*sin(q2 + q3)*c4*c5*s6)/100) - (64707*dq5*s4*s5*s6)/100000) - dq6r*(dq5*((13*c5*c6)/100 + (64707*c4*c6*s5)/100000) + dq4*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000) + dq2*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) + dq3*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) + dq6*((64707*c6*s4)/100000 - (13*s5*s6)/100 + (64707*c4*c5*s6)/100000) - dq1*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 + (13*sin(q2 + q3)*c5*c6*s4)/100)) - ddq2r*((13*c6*s4)/50 + (64707*s5*s6)/50000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/50 + (59*c3*c4*c5*s6)/100) - ddq5r*((13*c5*s6)/100 + (64707*c4*s5*s6)/100000) - ddq6r*((13*c6*s5)/100 + (64707*s4*s6)/100000 - (64707*c4*c5*c6)/100000) - ddq3r*((13*c6*s4)/50 + (64707*s5*s6)/50000 + (13*c4*c5*s6)/50) - dq5r*(dq6*((13*c5*c6)/100 + (64707*c4*c6*s5)/100000) + dq3*((64707*c5*s6)/100000 - (13*c4*s5*s6)/100) - dq5*((13*s5*s6)/100 - (64707*c4*c5*s6)/100000) + dq1*((64707*cos(q2 + q3)*c4*s6)/10000000 + (13*sin(q2 + q3)*c4*s6)/10000 + (64707*cos(q2 + q3)*c5*c6*s4)/10000000 + (13*sin(q2 + q3)*c5*c6*s4)/10000 + (64707*cos(q2 + q3)*s4*s5*s6)/100000 + (13*sin(q2 + q3)*s4*s5*s6)/100) - dq2*((59*c3*s4*s6)/10000 - (64707*c5*s6)/100000 + (59*c6*s3*s5)/10000 + (13*c4*s5*s6)/100 - (59*c3*c4*c5*c6)/10000) - (64707*dq4*s4*s5*s6)/100000) - dq2r*(dq4*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq5*((64707*c5*s6)/100000 - (13*c4*s5*s6)/100) + dq6*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) + dq2*((59*c6*s3*s4)/100 + (59*c3*s5*s6)/100 + (59*c4*c5*s3*s6)/100)) - dq3r*(dq4*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq5*((64707*c5*s6)/100000 - (13*c4*s5*s6)/100) + dq6*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100)) + s4*(s5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100))) - ddq1r*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100) + dq1r*(dq6*((64707*cos(q2 + q3)*c5*c6*s4)/200000 + (13*sin(q2 + q3)*c5*c6*s4)/200 + (64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 - (64707*c4*s2*s3*s6)/100000 + (64707*c2*c3*c5*c6*s4)/200000 + (13*c2*c5*c6*s3*s4)/200 + (13*c3*c5*c6*s2*s4)/200 - (64707*c5*c6*s2*s3*s4)/200000) - dq5*((64707*c2*c3*s4*s5*s6)/100000 + (13*c2*s3*s4*s5*s6)/100 + (13*c3*s2*s4*s5*s6)/100 - (64707*s2*s3*s4*s5*s6)/100000) - dq1*((64707*c6*s4)/100000 + (13*s5*s6)/100 - (64707*c2^2*c6*s4)/50000 - (64707*c3^2*c6*s4)/50000 - (13*c2^2*s5*s6)/50 - (13*c3^2*s5*s6)/50 + (64707*c4*c5*s6)/100000 - (64707*c2^2*c4*c5*s6)/50000 - (64707*c3^2*c4*c5*s6)/50000 + (59*c2^2*c6*s3*s4)/100 + (59*c2^2*c3*s5*s6)/100 + (64707*c2^2*c3^2*c6*s4)/25000 + (13*c2^2*c3^2*s5*s6)/25 - (13*c2*c6*s2*s4)/50 + (3*c2*c6*s3*s4)/20 + (3*c3*c6*s2*s4)/20 + (3*c2*c3*s5*s6)/20 - (13*c3*c6*s3*s4)/50 + (64707*c2*s2*s5*s6)/50000 + (64707*c3*s3*s5*s6)/50000 - (3*s2*s3*s5*s6)/20 + (13*c2*c3^2*c6*s2*s4)/25 + (13*c2^2*c3*c6*s3*s4)/25 + (59*c2^2*c4*c5*s3*s6)/100 - (64707*c2*c3^2*s2*s5*s6)/25000 - (64707*c2^2*c3*s3*s5*s6)/25000 + (64707*c2^2*c3^2*c4*c5*s6)/25000 + (59*c2*c3*c6*s2*s4)/100 - (13*c2*c4*c5*s2*s6)/50 + (3*c2*c4*c5*s3*s6)/20 + (3*c3*c4*c5*s2*s6)/20 - (13*c3*c4*c5*s3*s6)/50 - (59*c2*s2*s3*s5*s6)/100 + (59*c2*c3*c4*c5*s2*s6)/100 - (64707*c2*c3*c6*s2*s3*s4)/25000 - (13*c2*c3*s2*s3*s5*s6)/25 + (13*c2*c3^2*c4*c5*s2*s6)/25 + (13*c2^2*c3*c4*c5*s3*s6)/25 - (64707*c2*c3*c4*c5*s2*s3*s6)/25000) + dq4*((64707*c2*c3*c6*s4)/100000 + (13*c2*c6*s3*s4)/100 + (13*c3*c6*s2*s4)/100 - (64707*c6*s2*s3*s4)/100000 + (64707*c2*c3*c4*c5*s6)/100000 + (13*c2*c4*c5*s3*s6)/100 + (13*c3*c4*c5*s2*s6)/100 - (64707*c4*c5*s2*s3*s6)/100000)) + c4*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(3,18) =ddq4r*(c4*s5 - 2*c4*c6^2*s5 + 2*c5*c6*s4*s5*s6) + ddq2r*(2*c4^2*c6*s6 - 2*c5^2*c6*s6 - 2*c4*c5*s4 + 4*c4*c5*c6^2*s4 + 2*c4^2*c5^2*c6*s6) + ddq3r*(2*c4^2*c6*s6 - 2*c5^2*c6*s6 - 2*c4*c5*s4 + 4*c4*c5*c6^2*s4 + 2*c4^2*c5^2*c6*s6) - dq4r*(dq2*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq4*(2*c6^2*s4*s5 - s4*s5 + 2*c4*c5*c6*s5*s6) - dq6*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq3*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq1*(2*cos(q2 + q3)*c6^2*s4*s5 - 2*sin(q2 + q3)*c6*s6 - cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4^2*c6*s6 - 2*sin(q2 + q3)*c4*c5*s4 + 2*sin(q2 + q3)*c4^2*c5^2*c6*s6 + 4*sin(q2 + q3)*c4*c5*c6^2*s4 + 2*cos(q2 + q3)*c4*c5*c6*s5*s6) + (dq5*s4*(100000*sin(2*q6) - 200000*c5^2*c6*s6))/100000) + ddq5r*(2*c5*c6^2*s4 - c5*s4 + 2*c4*c6*s6) - dq1r*(dq1*(s4*s5 - 2*c2^2*s4*s5 - 2*c3^2*s4*s5 - 2*c6^2*s4*s5 + 4*c2^2*c3^2*s4*s5 + 4*c2^2*c6^2*s4*s5 + 4*c3^2*c6^2*s4*s5 - 4*c2*c6*s2*s6 - 4*c3*c6*s3*s6 + 8*c2*c3^2*c6*s2*s6 + 2*c2*c4^2*c6*s2*s6 + 8*c2^2*c3*c6*s3*s6 + 2*c2*c5^2*c6*s2*s6 + 2*c3*c4^2*c6*s3*s6 + 2*c3*c5^2*c6*s3*s6 - 2*c2*c4*c5*s2*s4 - 2*c3*c4*c5*s3*s4 - 2*c4*c5*c6*s5*s6 - 8*c2^2*c3^2*c6^2*s4*s5 - 4*c2*c3^2*c4^2*c6*s2*s6 - 4*c2*c3^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c6*s3*s6 + 2*c2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s3*s6 - 4*c2*c3*s2*s3*s4*s5 + 4*c2*c3^2*c4*c5*s2*s4 + 4*c2^2*c3*c4*c5*s3*s4 + 4*c2*c4*c5*c6^2*s2*s4 + 4*c3*c4*c5*c6^2*s3*s4 + 4*c2^2*c4*c5*c6*s5*s6 + 4*c3^2*c4*c5*c6*s5*s6 - 8*c2*c3^2*c4*c5*c6^2*s2*s4 - 8*c2^2*c3*c4*c5*c6^2*s3*s4 - 8*c2^2*c3^2*c4*c5*c6*s5*s6 - 4*c2*c3^2*c4^2*c5^2*c6*s2*s6 - 4*c2^2*c3*c4^2*c5^2*c6*s3*s6 + 8*c2*c3*c6^2*s2*s3*s4*s5 + 8*c2*c3*c4*c5*c6*s2*s3*s5*s6) - dq5*(c2*c4^2*s3*s5 - c3*s2*s5 - c2*s3*s5 + c3*c4^2*s2*s5 + 2*c2*c6^2*s3*s5 + 2*c3*c6^2*s2*s5 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c6*s4*s6 - 2*c6*s2*s3*s4*s6 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) + dq6*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) + dq4*(s2*s3*s4*s5 - 2*c2*c6*s3*s6 - 2*c3*c6*s2*s6 - c2*c3*s4*s5 + 2*c2*c3*c6^2*s4*s5 + 2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c6^2*s2*s3*s4*s5 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4 + 2*c2*c3*c4*c5*c6*s5*s6 - 2*c4*c5*c6*s2*s3*s5*s6)) - dq6r*(dq5*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) - dq4*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq1*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) + dq2*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6) + dq3*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) - dq2r*(dq4*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq5*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) - dq3r*(dq4*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) - dq5*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) + dq5r*(dq2*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq3*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) - dq6*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c4^2*s5 - sin(q2 + q3)*s5 + 2*sin(q2 + q3)*c6^2*s5 - 2*sin(q2 + q3)*c4^2*c6^2*s5 + 2*cos(q2 + q3)*c6*s4*s6 - 2*cos(q2 + q3)*c5^2*c6*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5*s6) + dq5*(s4*s5 - 2*c6^2*s4*s5) - (dq4*s4*(100000*sin(2*q6) - 200000*c5^2*c6*s6))/100000) - ddq1r*(2*sin(q2 + q3)*c4^2*c5 - sin(q2 + q3)*c5 + 2*sin(q2 + q3)*c5*c6^2 + cos(q2 + q3)*c4*s5 - 4*sin(q2 + q3)*c4^2*c5*c6^2 - 2*cos(q2 + q3)*c4*c6^2*s5 + 2*sin(q2 + q3)*c4*c6*s4*s6 + 2*cos(q2 + q3)*c5*c6*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*c6*s4*s6);
Y(3,19) =- ddq2r*(2*c5*c6*s5 - 2*c4^2*c5*c6*s5 + 2*c4*s4*s5*s6) - ddq3r*(2*c5*c6*s5 - 2*c4^2*c5*c6*s5 + 2*c4*s4*s5*s6) - dq2r*(dq6*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq5*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6)) - dq3r*(dq6*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq5*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6)) - ddq6r*(c4*s6 + c5*c6*s4) - dq1r*(dq6*(cos(q2 + q3)*c5^2*s4*s6 - (sin(q2 + q3)*c6*s5)/2 + sin(q2 + q3)*c4^2*c6*s5 - (cos(q2 + q3)*c4*c5*c6)/2 + (c2*c6*s3*s5)/2 + (c3*c6*s2*s5)/2 - (c2*c3*c4*c5*c6)/2 + (c4*c5*c6*s2*s3)/2 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq1*(2*c2^2*c4*c6 - c4*c6 + 2*c3^2*c4*c6 + 2*c4*c5^2*c6 - c5*s4*s6 + 2*c2^2*c5*s4*s6 + 2*c3^2*c5*s4*s6 - 4*c2^2*c3^2*c4*c6 - 4*c2^2*c4*c5^2*c6 - 4*c3^2*c4*c5^2*c6 - 4*c2^2*c3^2*c5*s4*s6 + 8*c2^2*c3^2*c4*c5^2*c6 + 2*c2*c5*c6*s2*s5 + 2*c3*c5*c6*s3*s5 + 4*c2*c3*c4*c6*s2*s3 - 2*c2*c4*s2*s4*s5*s6 - 2*c3*c4*s3*s4*s5*s6 - 4*c2*c3^2*c5*c6*s2*s5 + 2*c2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s3*s5 - 4*c2*c3^2*c4^2*c5*c6*s2*s5 - 4*c2^2*c3*c4^2*c5*c6*s3*s5 + 4*c2*c3*c5*s2*s3*s4*s6 - 8*c2*c3*c4*c5^2*c6*s2*s3 + 4*c2*c3^2*c4*s2*s4*s5*s6 + 4*c2^2*c3*c4*s3*s4*s5*s6) - dq5*(c2*c5*s3*s6 + c3*c5*s2*s6 - c2*c4^2*c5*s3*s6 - c3*c4^2*c5*s2*s6 + c2*c4*c6*s3*s4 + c3*c4*c6*s2*s4 - 2*c2*c3*c5*c6*s4*s5 + 2*c5*c6*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6*s3*s4 - 2*c3*c4*c5^2*c6*s2*s4) + dq4*(c2*c3*c4*c6 - c4*c6*s2*s3 + 2*c4*c5^2*c6*s2*s3 + c2*c3*c5*s4*s6 - c5*s2*s3*s4*s6 - 2*c2*c3*c4*c5^2*c6 - 2*c2*c4*s3*s4*s5*s6 - 2*c3*c4*s2*s4*s5*s6 + 2*c2*c4^2*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s2*s5)) - dq4r*(dq2*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq3*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) - dq6*(c5^2*s4*s6 - c4*c5*c6) - dq4*(c4*c6 - 2*c4*c5^2*c6 + c5*s4*s6) + dq1*(cos(q2 + q3)*c4*c6 + cos(q2 + q3)*c5*s4*s6 - 2*cos(q2 + q3)*c4*c5^2*c6 - 2*sin(q2 + q3)*c4*s4*s5*s6 + 2*sin(q2 + q3)*c4^2*c5*c6*s5) - 2*dq5*c5*c6*s4*s5) - ddq4r*(2*c5^2*c6*s4 - c6*s4 + c4*c5*s6) - ddq1r*(cos(q2 + q3)*c6*s4 - sin(q2 + q3)*s5*s6 + 2*sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - 2*cos(q2 + q3)*c5^2*c6*s4 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5) - dq5r*(dq2*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) + dq3*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) - dq1*((cos(q2 + q3)*s4*s6)/100 + sin(q2 + q3)*c5*s6 + (sin(q2 + q3)*c6*s5)/100 - sin(q2 + q3)*c4^2*c5*s6 - (cos(q2 + q3)*c4*c5*c6)/100 + sin(q2 + q3)*c4*c6*s4 - 2*cos(q2 + q3)*c5*c6*s4*s5 - 2*sin(q2 + q3)*c4*c5^2*c6*s4) + dq5*c5*s4*s6 - 2*dq4*c5*c6*s4*s5) - dq6r*(dq1*(cos(q2 + q3)*c5^2*s4*s6 + sin(q2 + q3)*c4^2*c6*s5 - cos(q2 + q3)*c4*c5*c6 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq3*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq6*(c4*c6 - c5*s4*s6) - dq4*(c5^2*s4*s6 - c4*c5*c6)) - ddq5r*s4*s5*s6;
Y(3,20) =dq1r*(dq5*(c2*c5*c6*s3 + c3*c5*c6*s2 - c2*c4*s3*s4*s6 - c3*c4*s2*s4*s6 - c2*c4^2*c5*c6*s3 - c3*c4^2*c5*c6*s2 + 2*c2*c3*c5*s4*s5*s6 - 2*c5*s2*s3*s4*s5*s6 + 2*c2*c4*c5^2*s3*s4*s6 + 2*c3*c4*c5^2*s2*s4*s6) + dq4*(c2*c3*c4*s6 - c4*s2*s3*s6 + 2*c4*c5^2*s2*s3*s6 - c2*c3*c5*c6*s4 + c5*c6*s2*s3*s4 - 2*c2*c3*c4*c5^2*s6 + 2*c2*c4*c6*s3*s4*s5 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) - dq1*(c4*s6 - 2*c2^2*c4*s6 - 2*c3^2*c4*s6 - 2*c4*c5^2*s6 - c5*c6*s4 + 2*c2^2*c5*c6*s4 + 2*c3^2*c5*c6*s4 + 4*c2^2*c3^2*c4*s6 + 4*c2^2*c4*c5^2*s6 + 4*c3^2*c4*c5^2*s6 - 4*c2^2*c3^2*c5*c6*s4 - 8*c2^2*c3^2*c4*c5^2*s6 - 2*c2*c5*s2*s5*s6 - 2*c3*c5*s3*s5*s6 - 4*c2*c3*c4*s2*s3*s6 - 2*c2*c4*c6*s2*s4*s5 - 2*c3*c4*c6*s3*s4*s5 + 4*c2*c3^2*c5*s2*s5*s6 - 2*c2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c5*s3*s5*s6 - 2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3^2*c4^2*c5*s2*s5*s6 + 4*c2^2*c3*c4^2*c5*s3*s5*s6 + 4*c2*c3*c5*c6*s2*s3*s4 + 8*c2*c3*c4*c5^2*s2*s3*s6 + 4*c2*c3^2*c4*c6*s2*s4*s5 + 4*c2^2*c3*c4*c6*s3*s4*s5) + dq6*(sin(q2 + q3)*c4^2*s5*s6 - (sin(q2 + q3)*s5*s6)/2 - (cos(q2 + q3)*c4*c5*s6)/2 + (c2*s3*s5*s6)/2 + (c3*s2*s5*s6)/2 - cos(q2 + q3)*c5^2*c6*s4 - (c2*c3*c4*c5*s6)/2 + (c4*c5*s2*s3*s6)/2 + sin(q2 + q3)*c4*c5*c6*s4*s5)) - ddq3r*(2*c4^2*c5*s5*s6 - 2*c5*s5*s6 + 2*c4*c6*s4*s5) - ddq6r*(c4*c6 - c5*s4*s6) - ddq2r*(2*c4^2*c5*s5*s6 - 2*c5*s5*s6 + 2*c4*c6*s4*s5) + dq4r*(dq2*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq3*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq6*(c5^2*c6*s4 + c4*c5*s6) + dq4*(2*c4*c5^2*s6 - c4*s6 + c5*c6*s4) + dq1*(cos(q2 + q3)*c4*s6 - cos(q2 + q3)*c5*c6*s4 - 2*cos(q2 + q3)*c4*c5^2*s6 + 2*sin(q2 + q3)*c4*c6*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*s5*s6) - 2*dq5*c5*s4*s5*s6) - ddq4r*(s4*s6 - 2*c5^2*s4*s6 + c4*c5*c6) - dq5r*(dq2*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) - dq1*((cos(q2 + q3)*c6*s4)/100 + sin(q2 + q3)*c5*c6 - (sin(q2 + q3)*s5*s6)/100 + (cos(q2 + q3)*c4*c5*s6)/100 - sin(q2 + q3)*c4*s4*s6 - sin(q2 + q3)*c4^2*c5*c6 + 2*cos(q2 + q3)*c5*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*s4*s6) + dq3*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) + dq5*c5*c6*s4 + 2*dq4*c5*s4*s5*s6) + ddq1r*(cos(q2 + q3)*s4*s6 + sin(q2 + q3)*c6*s5 - 2*cos(q2 + q3)*c5^2*s4*s6 - 2*sin(q2 + q3)*c4^2*c6*s5 + cos(q2 + q3)*c4*c5*c6 + 2*sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2r*(dq6*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq4*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) - dq5*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4)) + dq3r*(dq6*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq4*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) - dq5*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4)) + dq6r*(dq1*(sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - cos(q2 + q3)*c5^2*c6*s4 + sin(q2 + q3)*c4*c5*c6*s4*s5) + dq2*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq3*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq6*(c4*s6 + c5*c6*s4) + dq4*(c5^2*c6*s4 + c4*c5*s6)) - ddq5r*c6*s4*s5;
Y(3,21) =dq4r*(dq2*(sin(2*q4)/2 - c4*c5^2*s4) + dq3*(sin(2*q4)/2 - c4*c5^2*s4) - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 + sin(q2 + q3)*c4^2*c5^2 + cos(q2 + q3)*c4*c5*s5) + (dq6*c4*s5)/2 + (dq5*s4*(100000*c5^2 - 50000))/100000 + dq4*c4*c5*s5) - dq1r*(dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2 + c2*c3*c4*c5*s5 - c4*c5*s2*s3*s5) - dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq1*(c2*c5^2*s2 - c2*c4^2*s2 - c3*c4^2*s3 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 + 2*c2*c3^2*c4^2*s2 - 2*c2*c3^2*c5^2*s2 + 2*c2^2*c3*c4^2*s3 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5) + dq6*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2)) - ddq2r*(c4^2 + c5^2 - c4^2*c5^2 - 1) - ddq3r*(c4^2 + c5^2 - c4^2*c5^2 - 1) - ddq1r*(sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + cos(q2 + q3)*c5*s4*s5) + dq5r*(dq1*((cos(q2 + q3)*s4)/2 + (sin(q2 + q3)*c5)/100 - cos(q2 + q3)*c5^2*s4 + (cos(q2 + q3)*c4*s5)/100 + sin(q2 + q3)*c4*c5*s4*s5) + dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + (dq6*c5*s4)/2 + (dq4*s4*(100000*c5^2 - 50000))/100000) + dq2r*(dq4*(sin(2*q4)/2 - c4*c5^2*s4) + dq5*(c5*s5 - c4^2*c5*s5)) + dq3r*(dq4*(sin(2*q4)/2 - c4*c5^2*s4) + dq5*(c5*s5 - c4^2*c5*s5)) + dq6r*((dq4*c4*s5)/2 - dq1*((sin(q2 + q3)*c5)/2 + (cos(q2 + q3)*c4*s5)/2) + (dq5*c5*s4)/2) + ddq6r*s4*s5 + ddq4r*c5*s4*s5;
Y(3,22) =0;
Y(3,23) =0;
Y(3,24) =0;
Y(3,25) =0;
Y(3,26) =0;
Y(3,27) =0;
Y(3,28) =(981*s2*s3)/100 - (981*c2*c3)/100 + (59*ddq2r*c3)/100 + (59*dq2*dq2r*s3)/100 + dq1*dq1r*((3*c2*s3)/20 + (3*c3*s2)/20 + (59*c2^2*s3)/100 + (59*c2*c3*s2)/100);
Y(3,29) =(981*c2*s3)/100 + (981*c3*s2)/100 - (59*ddq2r*s3)/100 + dq1*dq1r*((3*c2*c3)/20 - (3*s2*s3)/20 + (59*c2^2*c3)/100 - (59*c2*s2*s3)/100) + (59*dq2*dq2r*c3)/100;
Y(3,30) =dq1*dq1r*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3);
Y(3,31) =dq1*dq1r*(2*c2^2 + 2*c3^2 - 4*c2^2*c3^2 + 4*c2*c3*s2*s3 - 1);
Y(3,32) =ddq2r + ddq3r;
Y(3,33) =dq2r*((13*dq4*c4)/100 + (59*dq2*s3*s4)/100) + ddq2r*((13*s4)/50 + (59*c3*s4)/100) + (13*ddq3r*s4)/50 + dq4r*((13*dq2*c4)/100 + (13*dq3*c4)/100 - (13*dq1*sin(q2 + q3)*s4)/100) - s4*((981*c2*c3)/100 - (981*s2*s3)/100) - dq1r*(dq4*((13*c2*s3*s4)/100 + (13*c3*s2*s4)/100) - dq1*((59*c2^2*s3*s4)/100 - (13*c2*s2*s4)/50 + (3*c2*s3*s4)/20 + (3*c3*s2*s4)/20 - (13*c3*s3*s4)/50 + (13*c2*c3^2*s2*s4)/25 + (13*c2^2*c3*s3*s4)/25 + (59*c2*c3*s2*s4)/100)) + (13*ddq1r*sin(q2 + q3)*c4)/100 + (13*dq4*dq3r*c4)/100;
Y(3,34) =dq4r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2)) - ddq3r*(c4^2 - 1) - ddq2r*(c4^2 - 1) + dq1r*(dq1*(c2*c4^2*s2 + c3*c4^2*s3 - 2*c2*c3^2*c4^2*s2 - 2*c2^2*c3*c4^2*s3) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) + (dq4*dq2r*sin(2*q4))/2 + (dq4*dq3r*sin(2*q4))/2 + ddq1r*sin(q2 + q3)*c4*s4;
Y(3,35) =- dq1r*(dq4*((c2*s3)/2 + (c3*s2)/2) + dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - 2*c2^2*c3*s3)) - (dq1*dq4r*sin(q2 + q3))/2;
Y(3,36) =ddq4r*c4 - dq4r*(dq4*s4 - dq1*cos(q2 + q3)*s4) - dq1r*(dq4*(s2*s3*s4 - c2*c3*s4) - dq1*(2*c2^2*s4 - s4 + 2*c3^2*s4 - 4*c2^2*c3^2*s4 + 4*c2*c3*s2*s3*s4)) - ddq1r*cos(q2 + q3)*c4;
Y(3,37) =dq1r*(dq4*((64707*c2*c3*c4*s5)/100000 + (13*c2*c4*s3*s5)/100 + (13*c3*c4*s2*s5)/100 - (64707*c4*s2*s3*s5)/100000) - dq1*((64707*c4*s5)/100000 - (13*c5)/100 + (13*c2^2*c5)/50 + (13*c3^2*c5)/50 - (59*c2^2*c3*c5)/100 - (64707*c2^2*c4*s5)/50000 - (64707*c3^2*c4*s5)/50000 - (13*c2^2*c3^2*c5)/25 - (3*c2*c3*c5)/20 - (64707*c2*c5*s2)/50000 - (64707*c3*c5*s3)/50000 + (3*c5*s2*s3)/20 + (64707*c2*c3^2*c5*s2)/25000 + (64707*c2^2*c3*c5*s3)/25000 + (59*c2^2*c4*s3*s5)/100 + (64707*c2^2*c3^2*c4*s5)/25000 + (59*c2*c5*s2*s3)/100 - (13*c2*c4*s2*s5)/50 + (3*c2*c4*s3*s5)/20 + (3*c3*c4*s2*s5)/20 - (13*c3*c4*s3*s5)/50 + (13*c2*c3^2*c4*s2*s5)/25 + (13*c2^2*c3*c4*s3*s5)/25 + (13*c2*c3*c5*s2*s3)/25 + (59*c2*c3*c4*s2*s5)/100 - (64707*c2*c3*c4*s2*s3*s5)/25000) + dq5*((64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000)) - dq3r*(dq5*((64707*s5)/100000 + (13*c4*c5)/100) - (13*dq4*s4*s5)/100) + dq2r*(dq2*((59*c3*c5)/100 - (59*c4*s3*s5)/100) - dq5*((64707*s5)/100000 + (13*c4*c5)/100) + (13*dq4*s4*s5)/100) + ddq3r*((64707*c5)/50000 - (13*c4*s5)/50) - ddq5r*((13*s5)/100 - (64707*c4*c5)/100000) - ddq2r*((59*c5*s3)/100 - (64707*c5)/50000 + (13*c4*s5)/50 + (59*c3*c4*s5)/100) - dq5r*(dq2*((64707*s5)/100000 + (13*c4*c5)/100) + dq3*((64707*s5)/100000 + (13*c4*c5)/100) + dq5*((13*c5)/100 + (64707*c4*s5)/100000) - dq1*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100) + (64707*dq4*c5*s4)/100000) + ddq1r*((64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100) + dq4r*(dq1*((64707*cos(q2 + q3)*c4*s5)/100000 + (13*sin(q2 + q3)*c4*s5)/100) - (64707*dq4*c4*s5)/100000 - (64707*dq5*c5*s4)/100000 + (13*dq2*s4*s5)/100 + (13*dq3*s4*s5)/100) + c4*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c5*s4^2*((981*c2*s3)/100 + (981*c3*s2)/100) - (64707*ddq4r*s4*s5)/100000;
Y(3,38) =ddq2r*(c5^2 - c4^2*c5^2) + ddq3r*(c5^2 - c4^2*c5^2) - dq1r*(dq5*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2 - c2*c3*c4*c5*s5 + c4*c5*s2*s3*s5) - dq1*(2*c2*c3^2*s2 - c3*s3 - c2*s2 + 2*c2^2*c3*s3 + c2*c5^2*s2 + c3*c5^2*s3 - c4*c5*s5 + 2*c2^2*c4*c5*s5 + 2*c3^2*c4*c5*s5 - 2*c2*c3^2*c5^2*s2 + c2*c4^2*c5^2*s2 - 2*c2^2*c3*c5^2*s3 + c3*c4^2*c5^2*s3 - 4*c2^2*c3^2*c4*c5*s5 - 2*c2*c3^2*c4^2*c5^2*s2 - 2*c2^2*c3*c4^2*c5^2*s3 + 4*c2*c3*c4*c5*s2*s3*s5)) - dq2r*(dq5*(c5*s5 - c4^2*c5*s5) - dq4*c4*c5^2*s4) - dq3r*(dq5*(c5*s5 - c4^2*c5*s5) - dq4*c4*c5^2*s4) - dq5r*(dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c5^2*s4 + sin(q2 + q3)*c4*c5*s4*s5) + (dq4*s4*(100000*c5^2 - 50000))/100000) + dq4r*(dq1*(sin(q2 + q3)*c4^2*c5^2 - sin(q2 + q3)/2 + cos(q2 + q3)*c4*c5*s5) - (dq5*s4*(100000*c5^2 - 50000))/100000 - dq4*c4*c5*s5 + dq2*c4*c5^2*s4 + dq3*c4*c5^2*s4) + ddq1r*(sin(q2 + q3)*c4*c5^2*s4 + cos(q2 + q3)*c5*s4*s5) - ddq4r*c5*s4*s5;
Y(3,39) =ddq5r*c4 - dq4r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2) + (dq5*s4)/2) - dq5r*((dq4*s4)/2 - (dq1*cos(q2 + q3)*s4)/2) + dq1r*(dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - c3*c4^2*s3 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3) - dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) + ddq2r*c4^2 + ddq3r*c4^2 - (dq4*dq2r*sin(2*q4))/2 - (dq4*dq3r*sin(2*q4))/2 - ddq1r*sin(q2 + q3)*c4*s4;
Y(3,40) =ddq5r*(c4 - c4*c6^2 + c5*c6*s4*s6) - ddq4r*(c5*c6^2*s4*s5 + c4*c6*s5*s6) - dq1r*(dq5*((s2*s3*s4)/2 - (c2*c3*s4)/2 + c2*c3*c6^2*s4 - c6^2*s2*s3*s4 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c6*s3*s5*s6 - c3*c6*s2*s5*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) - dq4*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 - c2*c6^2*s3 - c3*c6^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - c2*c3*c6*s4*s5*s6 + c6*s2*s3*s4*s5*s6 + c2*c3*c4*c5*c6^2*s5 - c4*c5*c6^2*s2*s3*s5 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) - dq1*(c2*s2 + c3*s3 - 2*c2*c3^2*s2 - c2*c4^2*s2 - 2*c2^2*c3*s3 - 2*c2*c6^2*s2 - c3*c4^2*s3 - 2*c3*c6^2*s3 - c4*c5*c6^2*s5 + 2*c2*c3^2*c4^2*s2 + 2*c2^2*c3*c4^2*s3 + 4*c2*c3^2*c6^2*s2 + c2*c4^2*c6^2*s2 + 4*c2^2*c3*c6^2*s3 + c2*c5^2*c6^2*s2 + c3*c4^2*c6^2*s3 + c3*c5^2*c6^2*s3 + c6*s4*s5*s6 - 2*c2^2*c6*s4*s5*s6 - 2*c3^2*c6*s4*s5*s6 + 2*c2^2*c4*c5*c6^2*s5 + 2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c6^2*s2 - 2*c2*c3^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c6^2*s3 + c2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s3 + 4*c2^2*c3^2*c6*s4*s5*s6 - 4*c2^2*c3^2*c4*c5*c6^2*s5 - 2*c2*c3^2*c4^2*c5^2*c6^2*s2 - 2*c2^2*c3*c4^2*c5^2*c6^2*s3 - 2*c2*c4*c5*c6*s2*s4*s6 - 2*c3*c4*c5*c6*s3*s4*s6 - 4*c2*c3*c6*s2*s3*s4*s5*s6 + 4*c2*c3*c4*c5*c6^2*s2*s3*s5 + 4*c2*c3^2*c4*c5*c6*s2*s4*s6 + 4*c2^2*c3*c4*c5*c6*s3*s4*s6) + dq6*(sin(q2 + q3)*c4^2*c5 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - (c2*c5*s3)/2 - (c3*c5*s2)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6)) + dq6r*(dq4*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq3*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq5*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) - dq1*(sin(q2 + q3)*c4^2*c5 - (sin(q2 + q3)*c5)/2 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6)) - dq5r*(dq2*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq6*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq3*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c6^2*s4 + cos(q2 + q3)*c5^2*c6^2*s4 + sin(q2 + q3)*c6*s5*s6 - sin(q2 + q3)*c4^2*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6^2*s4*s5) + (dq4*s4*(100000*c5^2*c6^2 - 100000*c6^2 + 50000))/100000 + dq5*c6*s4*s5*s6) + ddq2r*(c4^2 - c4^2*c6^2 + c5^2*c6^2 - c4^2*c5^2*c6^2 + 2*c4*c5*c6*s4*s6) + ddq3r*(c4^2 - c4^2*c6^2 + c5^2*c6^2 - c4^2*c5^2*c6^2 + 2*c4*c5*c6*s4*s6) + dq2r*(dq6*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq4*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - dq5*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6)) + dq3r*(dq6*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq4*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - dq5*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6)) + dq4r*(dq6*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) - dq4*(c4*c5*c6^2*s5 - c6*s4*s5*s6) + dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 - sin(q2 + q3)*c6^2 + sin(q2 + q3)*c4^2*c6^2 + sin(q2 + q3)*c4^2*c5^2*c6^2 - cos(q2 + q3)*c6*s4*s5*s6 + cos(q2 + q3)*c4*c5*c6^2*s5 - 2*sin(q2 + q3)*c4*c5*c6*s4*s6) + dq2*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq3*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) - (dq5*s4*(100000*c5^2*c6^2 - 100000*c6^2 + 50000))/100000) + ddq1r*(sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*s4 - sin(q2 + q3)*c5*c6*s6 + sin(q2 + q3)*c4*c5^2*c6^2*s4 + cos(q2 + q3)*c4*c6*s5*s6 + cos(q2 + q3)*c5*c6^2*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*c6*s6);
Y(3,41) =0;
Y(3,42) =0;
Y(3,43) =0;
Y(3,44) =0;
Y(3,45) =0;
Y(3,46) =141*dq3r;
Y(3,47) =0;
Y(3,48) =0;
Y(3,49) =0;
Y(3,50) =0;
Y(3,51) =0;
Y(3,52) =0;
Y(4,1) =0;
Y(4,2) =0;
Y(4,3) =0;
Y(4,4) =0;
Y(4,5) =0;
Y(4,6) =0;
Y(4,7) =dq3r*((13*dq2*s4)/100 + (13*dq3*s4)/100 + (13*dq1*sin(q2 + q3)*c4)/100) - ddq1r*((3*c4)/20 + (59*c2*c4)/100 + (13*cos(q2 + q3)*c4)/100) + dq1r*(dq2*((59*c4*s2)/100 + (13*c2*c4*s3)/100 + (13*c3*c4*s2)/100) - dq1*((3*s2*s3*s4)/20 - (59*c2^2*c3*s4)/100 - (3*c2*c3*s4)/20 - (13*cos(q2 + q3)*c2*c3*s4)/100 + (13*cos(q2 + q3)*s2*s3*s4)/100 + (59*c2*s2*s3*s4)/100) + dq3*((13*c2*c4*s3)/100 + (13*c3*c4*s2)/100)) + s4*((981*c2*s3)/100 + (981*c3*s2)/100) + dq2r*(dq2*((13*s4)/100 + (59*c3*s4)/100) + dq1*((59*c4*s2)/200 + (13*sin(q2 + q3)*c4)/100 - (59*cos(q2 + q3)*c4*s3)/200 + (59*sin(q2 + q3)*c3*c4)/200) + (13*dq3*s4)/100) - (59*ddq2r*s3*s4)/100;
Y(4,8) =- ddq2r*s4 - ddq3r*s4 - dq1r*(dq2*(c2*c3*c4 - c4*s2*s3) - dq1*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2) + dq3*(c2*c3*c4 - c4*s2*s3)) - ddq1r*sin(q2 + q3)*c4 - dq1*dq2r*cos(q2 + q3)*c4 - dq1*dq3r*cos(q2 + q3)*c4;
Y(4,9) =dq2r*(dq2*(2*c4^2 - 1) + dq3*(2*c4^2 - 1) - 2*dq1*sin(q2 + q3)*c4*s4) - dq1r*(dq2*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4) - dq1*(sin(q2 + q3)*c2*s3 + sin(q2 + q3)*c3*s2 - 2*sin(q2 + q3)*c2*c4^2*s3 - 2*sin(q2 + q3)*c3*c4^2*s2) + dq3*(2*c2*c4*s3*s4 + 2*c3*c4*s2*s4)) + dq3r*(dq2*(2*c4^2 - 1) + dq3*(2*c4^2 - 1) - 2*dq1*sin(q2 + q3)*c4*s4);
Y(4,10) =ddq4r;
Y(4,11) =ddq2r*((64707*c5*s4)/100000 - (59*c5*s3*s4)/100) + dq2r*(dq2*((13*c5*s4)/100 + (59*c3*c5*s4)/100) + dq1*((64707*cos(q2 + q3)*c4*c5)/100000 + (13*sin(q2 + q3)*c4*c5)/100 + (59*c4*c5*s2)/200 - (59*cos(q2 + q3)*c4*c5*s3)/200 + (59*sin(q2 + q3)*c3*c4*c5)/200) + (13*dq3*c5*s4)/100) + dq1r*(dq2*((59*c4*c5*s2)/100 + (64707*c2*c3*c4*c5)/100000 + (13*c2*c4*c5*s3)/100 + (13*c3*c4*c5*s2)/100 - (64707*c4*c5*s2*s3)/100000) - dq1*((3*c5*s2*s3*s4)/20 - (59*cos(q2 + q3)*c2*c5*s4)/200 - (3*c2*c3*c5*s4)/20 - (59*c2^2*c3*c5*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*s4)/100 + (64707*cos(q2 + q3)*c2*c5*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*s4)/200000 + (13*cos(q2 + q3)*c5*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*s2*s3*s4)/200000 + (59*c2*c5*s2*s3*s4)/200) + dq3*((64707*c2*c3*c4*c5)/100000 + (13*c2*c4*c5*s3)/100 + (13*c3*c4*c5*s2)/100 - (64707*c4*c5*s2*s3)/100000)) - ddq1r*((3*c4*c5)/20 + (13*cos(q2 + q3)*c4*c5)/100 - (64707*sin(q2 + q3)*c4*c5)/100000 + (59*c2*c4*c5)/100) + dq3r*(dq1*((64707*cos(q2 + q3)*c4*c5)/100000 + (13*sin(q2 + q3)*c4*c5)/100) + (13*dq2*c5*s4)/100 + (13*dq3*c5*s4)/100) + (64707*ddq3r*c5*s4)/100000 + c5*s4*((981*c2*s3)/100 + (981*c3*s2)/100);
Y(4,12) =dq1r*(dq1*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2) + dq2*(c2*c3*s4*s5 - s2*s3*s4*s5 + 2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) + dq3*(c2*c3*s4*s5 - s2*s3*s4*s5 + 2*c2*c4*c5*s3*s4 + 2*c3*c4*c5*s2*s4) + dq5*(c2*c5*s3*s4 + c3*c5*s2*s4)) - ddq5r*s5 - dq5r*(dq5*c5 + dq2*c4*c5 + dq3*c4*c5 - dq1*sin(q2 + q3)*c5*s4) + dq2r*(dq2*(c5 - 2*c4^2*c5) + dq3*(c5 - 2*c4^2*c5) + dq1*(cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4*c5*s4) - dq5*c4*c5) + dq3r*(dq2*(c5 - 2*c4^2*c5) + dq3*(c5 - 2*c4^2*c5) + dq1*(cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4*c5*s4) - dq5*c4*c5) - ddq2r*c4*s5 - ddq3r*c4*s5 + ddq1r*sin(q2 + q3)*s4*s5;
Y(4,13) =ddq4r*sin(2*q5) + dq5r*(dq1*(cos(q2 + q3) - 2*cos(q2 + q3)*c5^2 + 2*sin(q2 + q3)*c4*c5*s5) + dq4*cos(2*q5) + 2*dq2*c5*s4*s5 + 2*dq3*c5*s4*s5) + ddq2r*(s4 - 2*c5^2*s4) + ddq3r*(s4 - 2*c5^2*s4) + dq1r*(dq5*(c2*c3 - s2*s3 - 2*c2*c3*c5^2 + 2*c5^2*s2*s3 + 2*c2*c4*c5*s3*s5 + 2*c3*c4*c5*s2*s5) + dq2*(c2*c3*c4 - c4*s2*s3 - 2*c2*c3*c4*c5^2 + 2*c4*c5^2*s2*s3 + 2*c2*c4^2*c5*s3*s5 + 2*c3*c4^2*c5*s2*s5) + dq3*(c2*c3*c4 - c4*s2*s3 - 2*c2*c3*c4*c5^2 + 2*c4*c5^2*s2*s3 + 2*c2*c4^2*c5*s3*s5 + 2*c3*c4^2*c5*s2*s5) - dq1*((cos(q2 + q3)*c2*s3*s4)/2 + (cos(q2 + q3)*c3*s2*s4)/2 + (sin(q2 + q3)*c2*c3*s4)/2 - (sin(q2 + q3)*s2*s3*s4)/2 - cos(q2 + q3)*c2*c5^2*s3*s4 - cos(q2 + q3)*c3*c5^2*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*s4 + sin(q2 + q3)*c5^2*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5)) - ddq1r*(2*sin(q2 + q3)*c4*c5^2 - sin(q2 + q3)*c4 + 2*cos(q2 + q3)*c5*s5) + dq2r*(dq1*(cos(q2 + q3)*c4 - 2*cos(q2 + q3)*c4*c5^2 + 2*sin(q2 + q3)*c4^2*c5*s5) + 2*dq5*c5*s4*s5 + 2*dq2*c4*c5*s4*s5 + 2*dq3*c4*c5*s4*s5) + dq3r*(dq1*(cos(q2 + q3)*c4 - 2*cos(q2 + q3)*c4*c5^2 + 2*sin(q2 + q3)*c4^2*c5*s5) + 2*dq5*c5*s4*s5 + 2*dq2*c4*c5*s4*s5 + 2*dq3*c4*c5*s4*s5) + dq5*dq4r*cos(2*q5);
Y(4,14) =dq5r*(dq5*s5 + dq2*c4*s5 + dq3*c4*s5 - dq1*sin(q2 + q3)*s4*s5) - dq2r*(dq2*(s5 - 2*c4^2*s5) + dq3*(s5 - 2*c4^2*s5) - dq1*(cos(q2 + q3)*c5*s4 - 2*sin(q2 + q3)*c4*s4*s5) - dq5*c4*s5) - dq3r*(dq2*(s5 - 2*c4^2*s5) + dq3*(s5 - 2*c4^2*s5) - dq1*(cos(q2 + q3)*c5*s4 - 2*sin(q2 + q3)*c4*s4*s5) - dq5*c4*s5) - dq1r*(dq2*(c5*s2*s3*s4 - c2*c3*c5*s4 + 2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) - dq1*(sin(q2 + q3)*c2*s3*s5 + sin(q2 + q3)*c3*s2*s5 + (cos(q2 + q3)*c2*c4*c5*s3)/2 + (cos(q2 + q3)*c3*c4*c5*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5)/2 - (sin(q2 + q3)*c4*c5*s2*s3)/2 - 2*sin(q2 + q3)*c2*c4^2*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*s2*s5) + dq3*(c5*s2*s3*s4 - c2*c3*c5*s4 + 2*c2*c4*s3*s4*s5 + 2*c3*c4*s2*s4*s5) + dq5*(c2*s3*s4*s5 + c3*s2*s4*s5)) - ddq5r*c5 - ddq2r*c4*c5 - ddq3r*c4*c5 + ddq1r*sin(q2 + q3)*c5*s4;
Y(4,15) =0;
Y(4,16) =ddq3r*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000) + c5*(s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100)) + dq3r*(dq2*((13*c4*s6)/100 + (13*c5*c6*s4)/100) + dq3*((13*c4*s6)/100 + (13*c5*c6*s4)/100) - dq1*((64707*cos(q2 + q3)*s4*s6)/100000 + (13*sin(q2 + q3)*s4*s6)/100 - (64707*cos(q2 + q3)*c4*c5*c6)/100000 - (13*sin(q2 + q3)*c4*c5*c6)/100)) + ddq1r*((3*s4*s6)/20 + (13*cos(q2 + q3)*s4*s6)/100 - (3*c4*c5*c6)/20 - (64707*sin(q2 + q3)*s4*s6)/100000 + (59*c2*s4*s6)/100 - (13*cos(q2 + q3)*c4*c5*c6)/100 + (64707*sin(q2 + q3)*c4*c5*c6)/100000 - (59*c2*c4*c5*c6)/100) - dq1r*(dq1*((3*c4*s2*s3*s6)/20 - (59*cos(q2 + q3)*c2*c4*s6)/200 - (3*cos(q2 + q3)*c5*c6*s4)/40 - (3*c2*c3*c4*s6)/20 - (59*c2^2*c3*c4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*s6)/100 - (59*cos(q2 + q3)*c2*c5*c6*s4)/200 + (64707*cos(q2 + q3)*c2*c4*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*s6)/200000 + (13*cos(q2 + q3)*c4*s2*s3*s6)/100 - (3*c2*c3*c5*c6*s4)/40 - (64707*sin(q2 + q3)*c4*s2*s3*s6)/200000 + (59*c2*c4*s2*s3*s6)/200 + (3*c5*c6*s2*s3*s4)/40 - (59*c2^2*c3*c5*c6*s4)/200 - (13*cos(q2 + q3)*c2*c3*c5*c6*s4)/100 + (64707*cos(q2 + q3)*c2*c5*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c5*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c5*c6*s4)/200000 + (13*cos(q2 + q3)*c5*c6*s2*s3*s4)/100 - (64707*sin(q2 + q3)*c5*c6*s2*s3*s4)/200000 + (59*c2*c5*c6*s2*s3*s4)/200) + dq2*((59*s2*s4*s6)/100 - (59*c4*c5*c6*s2)/100 + (64707*c2*c3*s4*s6)/100000 + (13*c2*s3*s4*s6)/100 + (13*c3*s2*s4*s6)/100 - (64707*s2*s3*s4*s6)/100000 - (64707*c2*c3*c4*c5*c6)/100000 - (13*c2*c4*c5*c6*s3)/100 - (13*c3*c4*c5*c6*s2)/100 + (64707*c4*c5*c6*s2*s3)/100000) + dq3*((64707*c2*c3*s4*s6)/100000 + (13*c2*s3*s4*s6)/100 + (13*c3*s2*s4*s6)/100 - (64707*s2*s3*s4*s6)/100000 - (64707*c2*c3*c4*c5*c6)/100000 - (13*c2*c4*c5*c6*s3)/100 - (13*c3*c4*c5*c6*s2)/100 + (64707*c4*c5*c6*s2*s3)/100000)) + dq5r*(dq3*((64707*c4*c6)/10000000 - (64707*c5*s4*s6)/10000000) + dq1*((3*c6*s4)/2000 + (13*cos(q2 + q3)*c6*s4)/10000 - (64707*sin(q2 + q3)*c6*s4)/10000000 + (59*c2*c6*s4)/10000 + (3*c4*c5*s6)/2000 + (13*cos(q2 + q3)*c4*c5*s6)/10000 - (64707*sin(q2 + q3)*c4*c5*s6)/10000000 + (59*c2*c4*c5*s6)/10000) + dq2*((64707*c4*c6)/10000000 - (59*c4*c6*s3)/10000 - (64707*c5*s4*s6)/10000000 + (59*c5*s3*s4*s6)/10000)) + ddq2r*((64707*c4*s6)/100000 + (64707*c5*c6*s4)/100000 - (59*c4*s3*s6)/100 - (59*c5*c6*s3*s4)/100) + dq2r*(dq3*((13*c4*s6)/100 + (13*c5*c6*s4)/100) + dq2*((13*c4*s6)/100 + (59*c3*c4*s6)/100 + (13*c5*c6*s4)/100 + (59*c3*c5*c6*s4)/100) - dq1*((59*s2*s4*s6)/200 + (64707*cos(q2 + q3)*s4*s6)/100000 + (13*sin(q2 + q3)*s4*s6)/100 - (64707*cos(q2 + q3)*c4*c5*c6)/100000 - (13*sin(q2 + q3)*c4*c5*c6)/100 - (59*cos(q2 + q3)*s3*s4*s6)/200 + (59*sin(q2 + q3)*c3*s4*s6)/200 - (59*c4*c5*c6*s2)/200 + (59*cos(q2 + q3)*c4*c5*c6*s3)/200 - (59*sin(q2 + q3)*c3*c4*c5*c6)/200)) - s5*s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(4,17) =ddq3r*((64707*c4*c6)/100000 - (64707*c5*s4*s6)/100000) + c5*(c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100)) + dq3r*(dq2*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq3*((13*c4*c6)/100 - (13*c5*s4*s6)/100) - dq1*((64707*cos(q2 + q3)*c6*s4)/100000 + (13*sin(q2 + q3)*c6*s4)/100 + (64707*cos(q2 + q3)*c4*c5*s6)/100000 + (13*sin(q2 + q3)*c4*c5*s6)/100)) + ddq1r*((3*c6*s4)/20 + (13*cos(q2 + q3)*c6*s4)/100 - (64707*sin(q2 + q3)*c6*s4)/100000 + (59*c2*c6*s4)/100 + (3*c4*c5*s6)/20 + (13*cos(q2 + q3)*c4*c5*s6)/100 - (64707*sin(q2 + q3)*c4*c5*s6)/100000 + (59*c2*c4*c5*s6)/100) - dq1r*(dq1*((3*cos(q2 + q3)*c5*s4*s6)/40 - (59*cos(q2 + q3)*c2*c4*c6)/200 - (59*c2^2*c3*c4*c6)/200 - (3*c2*c3*c4*c6)/20 + (3*c4*c6*s2*s3)/20 + (59*c2^2*c3*c5*s4*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c6)/200000 + (13*cos(q2 + q3)*c4*c6*s2*s3)/100 + (59*cos(q2 + q3)*c2*c5*s4*s6)/200 - (64707*sin(q2 + q3)*c4*c6*s2*s3)/200000 + (59*c2*c4*c6*s2*s3)/200 + (3*c2*c3*c5*s4*s6)/40 - (3*c5*s2*s3*s4*s6)/40 + (13*cos(q2 + q3)*c2*c3*c5*s4*s6)/100 - (64707*cos(q2 + q3)*c2*c5*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*c5*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c5*s4*s6)/200000 - (13*cos(q2 + q3)*c5*s2*s3*s4*s6)/100 + (64707*sin(q2 + q3)*c5*s2*s3*s4*s6)/200000 - (59*c2*c5*s2*s3*s4*s6)/200) + dq2*((59*c6*s2*s4)/100 + (64707*c2*c3*c6*s4)/100000 + (13*c2*c6*s3*s4)/100 + (13*c3*c6*s2*s4)/100 + (59*c4*c5*s2*s6)/100 - (64707*c6*s2*s3*s4)/100000 + (64707*c2*c3*c4*c5*s6)/100000 + (13*c2*c4*c5*s3*s6)/100 + (13*c3*c4*c5*s2*s6)/100 - (64707*c4*c5*s2*s3*s6)/100000) + dq3*((64707*c2*c3*c6*s4)/100000 + (13*c2*c6*s3*s4)/100 + (13*c3*c6*s2*s4)/100 - (64707*c6*s2*s3*s4)/100000 + (64707*c2*c3*c4*c5*s6)/100000 + (13*c2*c4*c5*s3*s6)/100 + (13*c3*c4*c5*s2*s6)/100 - (64707*c4*c5*s2*s3*s6)/100000)) - dq5r*(dq3*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000) + dq1*((3*s4*s6)/2000 + (13*cos(q2 + q3)*s4*s6)/10000 - (3*c4*c5*c6)/2000 - (64707*sin(q2 + q3)*s4*s6)/10000000 + (59*c2*s4*s6)/10000 - (13*cos(q2 + q3)*c4*c5*c6)/10000 + (64707*sin(q2 + q3)*c4*c5*c6)/10000000 - (59*c2*c4*c5*c6)/10000) + dq2*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000 - (59*c4*s3*s6)/10000 - (59*c5*c6*s3*s4)/10000)) + ddq2r*((64707*c4*c6)/100000 - (59*c4*c6*s3)/100 - (64707*c5*s4*s6)/100000 + (59*c5*s3*s4*s6)/100) + dq2r*(dq3*((13*c4*c6)/100 - (13*c5*s4*s6)/100) + dq2*((13*c4*c6)/100 + (59*c3*c4*c6)/100 - (13*c5*s4*s6)/100 - (59*c3*c5*s4*s6)/100) - dq1*((64707*cos(q2 + q3)*c6*s4)/100000 + (13*sin(q2 + q3)*c6*s4)/100 + (59*c6*s2*s4)/200 + (64707*cos(q2 + q3)*c4*c5*s6)/100000 - (59*cos(q2 + q3)*c6*s3*s4)/200 + (59*sin(q2 + q3)*c3*c6*s4)/200 + (13*sin(q2 + q3)*c4*c5*s6)/100 + (59*c4*c5*s2*s6)/200 - (59*cos(q2 + q3)*c4*c5*s3*s6)/200 + (59*sin(q2 + q3)*c3*c4*c5*s6)/200)) - c6*s5*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100));
Y(4,18) =ddq1r*(2*cos(q2 + q3)*c6*s6 - sin(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c6^2*s4*s5 - 2*cos(q2 + q3)*c5^2*c6*s6 + 2*sin(q2 + q3)*c4*c5*c6*s5*s6) + ddq2r*(c4*s5 - 2*c4*c6^2*s5 + 2*c5*c6*s4*s5*s6) + ddq3r*(c4*s5 - 2*c4*c6^2*s5 + 2*c5*c6*s4*s5*s6) + dq6r*(dq2*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq3*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) - dq4*(cos(2*q6) + c5^2 - 2*c5^2*c6^2) - dq1*(cos(q2 + q3) - cos(q2 + q3)*c5^2 - 2*cos(q2 + q3)*c6^2 + 2*cos(q2 + q3)*c5^2*c6^2 + sin(q2 + q3)*c4*c5*s5 + 2*sin(q2 + q3)*c6*s4*s5*s6 - 2*sin(q2 + q3)*c4*c5*c6^2*s5) + dq5*sin(2*q6)*s5) + dq5r*(dq1*(2*sin(q2 + q3)*c5*c6^2*s4 - sin(q2 + q3)*c5*s4 + 2*cos(q2 + q3)*c5*c6*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*c6*s6) + dq2*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) + dq3*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) - dq5*cos(2*q6)*c5 + dq6*sin(2*q6)*s5 - 2*dq4*c5*c6*s5*s6) + ddq5r*(s5 - 2*c6^2*s5) + dq1r*(dq5*(2*c2*c5*c6^2*s3*s4 - c3*c5*s2*s4 - c2*c5*s3*s4 + 2*c3*c5*c6^2*s2*s4 + 2*c2*c3*c5*c6*s5*s6 - 2*c5*c6*s2*s3*s5*s6 + 2*c2*c4*c5^2*c6*s3*s6 + 2*c3*c4*c5^2*c6*s2*s6) - dq1*((cos(q2 + q3)*c2*c4*s3*s5)/2 - sin(q2 + q3)*c3*c5*s2 - sin(q2 + q3)*c2*c5*s3 + (cos(q2 + q3)*c3*c4*s2*s5)/2 + (sin(q2 + q3)*c2*c3*c4*s5)/2 - (sin(q2 + q3)*c4*s2*s3*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*s3 + 2*sin(q2 + q3)*c3*c4^2*c5*s2 + 2*sin(q2 + q3)*c2*c5*c6^2*s3 + 2*sin(q2 + q3)*c3*c5*c6^2*s2 - 4*sin(q2 + q3)*c2*c4^2*c5*c6^2*s3 - 4*sin(q2 + q3)*c3*c4^2*c5*c6^2*s2 - cos(q2 + q3)*c2*c4*c6^2*s3*s5 - cos(q2 + q3)*c3*c4*c6^2*s2*s5 - sin(q2 + q3)*c2*c3*c4*c6^2*s5 + sin(q2 + q3)*c4*c6^2*s2*s3*s5 + 2*sin(q2 + q3)*c2*c4*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c6*s2*s4*s6 + cos(q2 + q3)*c2*c5*c6*s3*s4*s5*s6 + cos(q2 + q3)*c3*c5*c6*s2*s4*s5*s6 + sin(q2 + q3)*c2*c3*c5*c6*s4*s5*s6 - sin(q2 + q3)*c5*c6*s2*s3*s4*s5*s6 + 2*sin(q2 + q3)*c2*c4*c5^2*c6*s3*s4*s6 + 2*sin(q2 + q3)*c3*c4*c5^2*c6*s2*s4*s6) - dq6*(c2*c3 - s2*s3 - c2*c3*c5^2 - 2*c2*c3*c6^2 + c5^2*s2*s3 + 2*c6^2*s2*s3 + 2*c2*c3*c5^2*c6^2 - 2*c5^2*c6^2*s2*s3 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5 + 2*c2*c6*s3*s4*s5*s6 + 2*c3*c6*s2*s4*s5*s6 - 2*c2*c4*c5*c6^2*s3*s5 - 2*c3*c4*c5*c6^2*s2*s5) + dq2*(s2*s3*s4*s5 - 2*c2*c6*s3*s6 - 2*c3*c6*s2*s6 - c2*c3*s4*s5 + 2*c2*c3*c6^2*s4*s5 + 2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c6^2*s2*s3*s4*s5 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4 + 2*c2*c3*c4*c5*c6*s5*s6 - 2*c4*c5*c6*s2*s3*s5*s6) + dq3*(s2*s3*s4*s5 - 2*c2*c6*s3*s6 - 2*c3*c6*s2*s6 - c2*c3*s4*s5 + 2*c2*c3*c6^2*s4*s5 + 2*c2*c4^2*c6*s3*s6 + 2*c3*c4^2*c6*s2*s6 - 2*c6^2*s2*s3*s4*s5 - 2*c2*c4*c5*s3*s4 - 2*c3*c4*c5*s2*s4 + 2*c2*c4^2*c5^2*c6*s3*s6 + 2*c3*c4^2*c5^2*c6*s2*s6 + 4*c2*c4*c5*c6^2*s3*s4 + 4*c3*c4*c5*c6^2*s2*s4 + 2*c2*c3*c4*c5*c6*s5*s6 - 2*c4*c5*c6*s2*s3*s5*s6)) - dq4r*(dq6*(cos(2*q6) + c5^2 - 2*c5^2*c6^2) + 2*dq5*c5*c6*s5*s6) - ddq4r*(sin(2*q6) - 2*c5^2*c6*s6) + dq2r*(dq6*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq5*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) + dq2*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq3*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq1*(2*cos(q2 + q3)*c6^2*s4*s5 - 2*sin(q2 + q3)*c6*s6 - cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4^2*c6*s6 - 2*sin(q2 + q3)*c4*c5*s4 + 2*sin(q2 + q3)*c4^2*c5^2*c6*s6 + 4*sin(q2 + q3)*c4*c5*c6^2*s4 + 2*cos(q2 + q3)*c4*c5*c6*s5*s6)) + dq3r*(dq6*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq5*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) + dq2*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq3*(2*c4^2*c5 - c5 + 2*c5*c6^2 - 4*c4^2*c5*c6^2 + 2*c4*c6*s4*s6 + 2*c4*c5^2*c6*s4*s6) + dq1*(2*cos(q2 + q3)*c6^2*s4*s5 - 2*sin(q2 + q3)*c6*s6 - cos(q2 + q3)*s4*s5 + 2*sin(q2 + q3)*c4^2*c6*s6 - 2*sin(q2 + q3)*c4*c5*s4 + 2*sin(q2 + q3)*c4^2*c5^2*c6*s6 + 4*sin(q2 + q3)*c4*c5*c6^2*s4 + 2*cos(q2 + q3)*c4*c5*c6*s5*s6));
Y(4,19) =ddq1r*(sin(q2 + q3)*c4*c6 - 2*cos(q2 + q3)*c5*c6*s5 + sin(q2 + q3)*c5*s4*s6 - 2*sin(q2 + q3)*c4*c5^2*c6) + dq2r*(dq2*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq3*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) - dq6*(s4*s6 - c5^2*s4*s6) + dq1*(cos(q2 + q3)*c4*c6 + cos(q2 + q3)*c5*s4*s6 - 2*cos(q2 + q3)*c4*c5^2*c6 - 2*sin(q2 + q3)*c4*s4*s5*s6 + 2*sin(q2 + q3)*c4^2*c5*c6*s5) + dq5*(c4*s5*s6 + 2*c5*c6*s4*s5)) + dq3r*(dq2*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) + dq3*(2*c4^2*s5*s6 - s5*s6 + 2*c4*c5*c6*s4*s5) - dq6*(s4*s6 - c5^2*s4*s6) + dq1*(cos(q2 + q3)*c4*c6 + cos(q2 + q3)*c5*s4*s6 - 2*cos(q2 + q3)*c4*c5^2*c6 - 2*sin(q2 + q3)*c4*s4*s5*s6 + 2*sin(q2 + q3)*c4^2*c5*c6*s5) + dq5*(c4*s5*s6 + 2*c5*c6*s4*s5)) - ddq2r*(2*c5^2*c6*s4 - c6*s4 + c4*c5*s6) - ddq3r*(2*c5^2*c6*s4 - c6*s4 + c4*c5*s6) + dq5r*(dq1*(cos(q2 + q3)*c6 - 2*cos(q2 + q3)*c5^2*c6 + (sin(q2 + q3)*c4*s6)/100 + (sin(q2 + q3)*c5*c6*s4)/100 - sin(q2 + q3)*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5*c6*s5) - dq4*(c6 - 2*c5^2*c6) + dq2*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + dq3*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + dq5*s5*s6) - dq4r*(dq5*(c6 - 2*c5^2*c6) + dq6*c5*s5*s6) + dq1r*(dq5*(c2*c3*c6 - c6*s2*s3 - 2*c2*c3*c5^2*c6 + 2*c5^2*c6*s2*s3 - c2*s3*s4*s5*s6 - c3*s2*s4*s5*s6 + 2*c2*c4*c5*c6*s3*s5 + 2*c3*c4*c5*c6*s2*s5) - dq6*(c2*c4*s3*s6 + c3*c4*s2*s6 - c2*c4*c5^2*s3*s6 - c3*c4*c5^2*s2*s6 - c2*c3*c5*s5*s6 + c5*s2*s3*s5*s6) - dq1*((cos(q2 + q3)*c2*c6*s3*s4)/2 + (cos(q2 + q3)*c3*c6*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c6*s4)/2 - (sin(q2 + q3)*c6*s2*s3*s4)/2 - sin(q2 + q3)*c2*s3*s5*s6 - sin(q2 + q3)*c3*s2*s5*s6 - (cos(q2 + q3)*c2*c4*c5*s3*s6)/2 - (cos(q2 + q3)*c3*c4*c5*s2*s6)/2 - (sin(q2 + q3)*c2*c3*c4*c5*s6)/2 + (sin(q2 + q3)*c4*c5*s2*s3*s6)/2 - cos(q2 + q3)*c2*c5^2*c6*s3*s4 - cos(q2 + q3)*c3*c5^2*c6*s2*s4 - sin(q2 + q3)*c2*c3*c5^2*c6*s4 + 2*sin(q2 + q3)*c2*c4^2*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*s2*s5*s6 + sin(q2 + q3)*c5^2*c6*s2*s3*s4 + 2*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s5) + dq2*(c2*c3*c4*c6 - c4*c6*s2*s3 + 2*c4*c5^2*c6*s2*s3 + c2*c3*c5*s4*s6 - c5*s2*s3*s4*s6 - 2*c2*c3*c4*c5^2*c6 - 2*c2*c4*s3*s4*s5*s6 - 2*c3*c4*s2*s4*s5*s6 + 2*c2*c4^2*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s2*s5) + dq3*(c2*c3*c4*c6 - c4*c6*s2*s3 + 2*c4*c5^2*c6*s2*s3 + c2*c3*c5*s4*s6 - c5*s2*s3*s4*s6 - 2*c2*c3*c4*c5^2*c6 - 2*c2*c4*s3*s4*s5*s6 - 2*c3*c4*s2*s4*s5*s6 + 2*c2*c4^2*c5*c6*s3*s5 + 2*c3*c4^2*c5*c6*s2*s5)) - dq6r*(dq2*(s4*s6 - c5^2*s4*s6) - dq1*(sin(q2 + q3)*c4*c5^2*s6 - sin(q2 + q3)*c4*s6 + cos(q2 + q3)*c5*s5*s6) + dq3*(s4*s6 - c5^2*s4*s6) + dq6*s5*s6 + dq4*c5*s5*s6) - ddq5r*c5*s6 + ddq6r*c6*s5 + 2*ddq4r*c5*c6*s5;
Y(4,20) =ddq1r*(2*sin(q2 + q3)*c4*c5^2*s6 - sin(q2 + q3)*c4*s6 + sin(q2 + q3)*c5*c6*s4 + 2*cos(q2 + q3)*c5*s5*s6) - dq1r*(dq2*(c2*c3*c4*s6 - c4*s2*s3*s6 + 2*c4*c5^2*s2*s3*s6 - c2*c3*c5*c6*s4 + c5*c6*s2*s3*s4 - 2*c2*c3*c4*c5^2*s6 + 2*c2*c4*c6*s3*s4*s5 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) + dq3*(c2*c3*c4*s6 - c4*s2*s3*s6 + 2*c4*c5^2*s2*s3*s6 - c2*c3*c5*c6*s4 + c5*c6*s2*s3*s4 - 2*c2*c3*c4*c5^2*s6 + 2*c2*c4*c6*s3*s4*s5 + 2*c3*c4*c6*s2*s4*s5 + 2*c2*c4^2*c5*s3*s5*s6 + 2*c3*c4^2*c5*s2*s5*s6) - dq1*((cos(q2 + q3)*c2*s3*s4*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s6)/2 + sin(q2 + q3)*c2*c6*s3*s5 + sin(q2 + q3)*c3*c6*s2*s5 - (sin(q2 + q3)*s2*s3*s4*s6)/2 + (cos(q2 + q3)*c2*c4*c5*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c5*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c5*c6)/2 - (sin(q2 + q3)*c4*c5*c6*s2*s3)/2 - cos(q2 + q3)*c2*c5^2*s3*s4*s6 - cos(q2 + q3)*c3*c5^2*s2*s4*s6 - sin(q2 + q3)*c2*c3*c5^2*s4*s6 - 2*sin(q2 + q3)*c2*c4^2*c6*s3*s5 - 2*sin(q2 + q3)*c3*c4^2*c6*s2*s5 + sin(q2 + q3)*c5^2*s2*s3*s4*s6 + 2*sin(q2 + q3)*c2*c4*c5*s3*s4*s5*s6 + 2*sin(q2 + q3)*c3*c4*c5*s2*s4*s5*s6) + dq6*(c2*c4*c6*s3 + c3*c4*c6*s2 - c2*c3*c5*c6*s5 + c5*c6*s2*s3*s5 - c2*c4*c5^2*c6*s3 - c3*c4*c5^2*c6*s2) + dq5*(c2*c3*s6 - s2*s3*s6 - 2*c2*c3*c5^2*s6 + 2*c5^2*s2*s3*s6 + c2*c6*s3*s4*s5 + c3*c6*s2*s4*s5 + 2*c2*c4*c5*s3*s5*s6 + 2*c3*c4*c5*s2*s5*s6)) - dq6r*(dq2*(c6*s4 - c5^2*c6*s4) - dq1*(cos(q2 + q3)*c5*c6*s5 - sin(q2 + q3)*c4*c6 + sin(q2 + q3)*c4*c5^2*c6) + dq3*(c6*s4 - c5^2*c6*s4) + dq6*c6*s5 + dq4*c5*c6*s5) - ddq2r*(s4*s6 - 2*c5^2*s4*s6 + c4*c5*c6) - ddq3r*(s4*s6 - 2*c5^2*s4*s6 + c4*c5*c6) + dq5r*(dq4*(s6 - 2*c5^2*s6) - dq1*(cos(q2 + q3)*s6 - 2*cos(q2 + q3)*c5^2*s6 - (sin(q2 + q3)*c4*c6)/100 + (sin(q2 + q3)*c5*s4*s6)/100 + sin(q2 + q3)*c6*s4*s5 + 2*sin(q2 + q3)*c4*c5*s5*s6) + dq2*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) + dq3*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) + dq5*c6*s5) - dq2r*(dq2*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq3*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq6*(c6*s4 - c5^2*c6*s4) + dq1*(cos(q2 + q3)*c4*s6 - cos(q2 + q3)*c5*c6*s4 - 2*cos(q2 + q3)*c4*c5^2*s6 + 2*sin(q2 + q3)*c4*c6*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*s5*s6) - dq5*(c4*c6*s5 - 2*c5*s4*s5*s6)) - dq3r*(dq2*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq3*(c6*s5 - 2*c4^2*c6*s5 + 2*c4*c5*s4*s5*s6) + dq6*(c6*s4 - c5^2*c6*s4) + dq1*(cos(q2 + q3)*c4*s6 - cos(q2 + q3)*c5*c6*s4 - 2*cos(q2 + q3)*c4*c5^2*s6 + 2*sin(q2 + q3)*c4*c6*s4*s5 + 2*sin(q2 + q3)*c4^2*c5*s5*s6) - dq5*(c4*c6*s5 - 2*c5*s4*s5*s6)) + dq4r*(dq5*(s6 - 2*c5^2*s6) - dq6*c5*c6*s5) - ddq5r*c5*c6 - ddq6r*s5*s6 - 2*ddq4r*c5*s5*s6;
Y(4,21) =dq1r*(dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2 + c2*c3*c4*c5*s5 - c4*c5*s2*s3*s5) - dq1*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c4*s3*s4 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 + c2*c4^2*c5^2*s3 + c3*c4^2*c5^2*s2 + c2*c3*c4*c5*s5 - c4*c5*s2*s3*s5) - dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5) + dq6*((c2*s3*s4*s5)/2 + (c3*s2*s4*s5)/2)) - dq2r*(dq2*(sin(2*q4)/2 - c4*c5^2*s4) + dq3*(sin(2*q4)/2 - c4*c5^2*s4) - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 + sin(q2 + q3)*c4^2*c5^2 + cos(q2 + q3)*c4*c5*s5) + dq5*(s4/2 - c5^2*s4) + (dq6*c4*s5)/2) - dq3r*(dq2*(sin(2*q4)/2 - c4*c5^2*s4) + dq3*(sin(2*q4)/2 - c4*c5^2*s4) - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 + sin(q2 + q3)*c4^2*c5^2 + cos(q2 + q3)*c4*c5*s5) + dq5*(s4/2 - c5^2*s4) + (dq6*c4*s5)/2) - dq6r*((dq5*s5)/2 + (dq2*c4*s5)/2 + (dq3*c4*s5)/2 - (dq1*sin(q2 + q3)*s4*s5)/2) - dq5r*((dq4*sin(2*q5))/2 + (dq6*s5)/2 + dq1*((sin(q2 + q3)*c4)/2 - sin(q2 + q3)*c4*c5^2 - cos(q2 + q3)*c5*s5 + (sin(q2 + q3)*s4*s5)/100) - dq2*((c4*s5)/100 - s4/2 + c5^2*s4) - dq3*((c4*s5)/100 - s4/2 + c5^2*s4)) + ddq6r*c5 + ddq4r*c5^2 - ddq1r*(cos(q2 + q3)*c5^2 - sin(q2 + q3)*c4*c5*s5) - (dq5*dq4r*sin(2*q5))/2 + ddq2r*c5*s4*s5 + ddq3r*c5*s4*s5;
Y(4,22) =0;
Y(4,23) =0;
Y(4,24) =0;
Y(4,25) =0;
Y(4,26) =0;
Y(4,27) =0;
Y(4,28) =0;
Y(4,29) =0;
Y(4,30) =0;
Y(4,31) =0;
Y(4,32) =0;
Y(4,33) =dq1r*(dq3*((13*c2*s3*s4)/100 + (13*c3*s2*s4)/100) - dq1*((59*c2^2*c3*c4)/100 + (3*c2*c3*c4)/20 - (3*c4*s2*s3)/20 + (13*cos(q2 + q3)*c2*c3*c4)/100 - (13*cos(q2 + q3)*c4*s2*s3)/100 - (59*c2*c4*s2*s3)/100) + dq2*((59*s2*s4)/100 + (13*c2*s3*s4)/100 + (13*c3*s2*s4)/100)) - dq3r*((13*dq2*c4)/100 + (13*dq3*c4)/100 - (13*dq1*sin(q2 + q3)*s4)/100) - ddq1r*((3*s4)/20 + (59*c2*s4)/100 + (13*cos(q2 + q3)*s4)/100) - c4*((981*c2*s3)/100 + (981*c3*s2)/100) - dq2r*(dq2*((13*c4)/100 + (59*c3*c4)/100) + (13*dq3*c4)/100 - dq1*((59*s2*s4)/200 + (13*sin(q2 + q3)*s4)/100 - (59*cos(q2 + q3)*s3*s4)/200 + (59*sin(q2 + q3)*c3*s4)/200)) + (59*ddq2r*c4*s3)/100;
Y(4,34) =dq1r*(dq1*((sin(q2 + q3 + q4)*sin(q2 + q3)*s4)/4 + (cos(q2 + q3 - q4)*sin(q2 + q3)*c4)/4 + (sin(q2 + q3 - q4)*sin(q2 + q3)*s4)/4 - (cos(q2 + q3 + q4)*sin(q2 + q3)*c4)/4) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2)) - dq2r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2)) - dq3r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2));
Y(4,35) =ddq4r - ddq1r*cos(q2 + q3) + dq1r*(dq2*((c2*s3)/2 + (c3*s2)/2) + dq3*((c2*s3)/2 + (c3*s2)/2)) + (dq1*dq2r*sin(q2 + q3))/2 + (dq1*dq3r*sin(q2 + q3))/2;
Y(4,36) =ddq2r*c4 + ddq3r*c4 + dq1r*(dq2*(s2*s3*s4 - c2*c3*s4) + dq3*(s2*s3*s4 - c2*c3*s4) - dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2)) - ddq1r*sin(q2 + q3)*s4 - dq1*dq2r*cos(q2 + q3)*s4 - dq1*dq3r*cos(q2 + q3)*s4;
Y(4,37) =ddq1r*((3*c4*s5)/20 + (13*cos(q2 + q3)*c4*s5)/100 - (64707*sin(q2 + q3)*c4*s5)/100000 + (59*c2*c4*s5)/100) - dq1r*(dq2*((59*c4*s2*s5)/100 + (64707*c2*c3*c4*s5)/100000 + (13*c2*c4*s3*s5)/100 + (13*c3*c4*s2*s5)/100 - (64707*c4*s2*s3*s5)/100000) + dq3*((64707*c2*c3*c4*s5)/100000 + (13*c2*c4*s3*s5)/100 + (13*c3*c4*s2*s5)/100 - (64707*c4*s2*s3*s5)/100000) + dq1*((3*cos(q2 + q3)*s4*s5)/40 + (59*c2^2*c3*s4*s5)/200 + (59*cos(q2 + q3)*c2*s4*s5)/200 + (3*c2*c3*s4*s5)/40 - (3*s2*s3*s4*s5)/40 + (13*cos(q2 + q3)*c2*c3*s4*s5)/100 - (64707*cos(q2 + q3)*c2*s3*s4*s5)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s5)/200000 - (13*cos(q2 + q3)*s2*s3*s4*s5)/100 + (64707*sin(q2 + q3)*s2*s3*s4*s5)/200000 - (59*c2*s2*s3*s4*s5)/200)) - ddq2r*((64707*s4*s5)/100000 - (59*s3*s4*s5)/100) - dq2r*(dq2*((13*s4*s5)/100 + (59*c3*s4*s5)/100) + dq1*((64707*cos(q2 + q3)*c4*s5)/100000 + (13*sin(q2 + q3)*c4*s5)/100 + (59*c4*s2*s5)/200 - (59*cos(q2 + q3)*c4*s3*s5)/200 + (59*sin(q2 + q3)*c3*c4*s5)/200) + (13*dq3*s4*s5)/100) - dq3r*(dq1*((64707*cos(q2 + q3)*c4*s5)/100000 + (13*sin(q2 + q3)*c4*s5)/100) + (13*dq2*s4*s5)/100 + (13*dq3*s4*s5)/100) - (64707*ddq3r*s4*s5)/100000 - s4*s5*((981*c2*s3)/100 + (981*c3*s2)/100);
Y(4,38) =dq1r*(dq1*((cos(q2 + q3)*c2*c5*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s5)/2 - (sin(q2 + q3)*c5*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*s2*s4) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2 - c2*c3*c4*c5*s5 + c4*c5*s2*s3*s5) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*c5^2*s3 - c3*c4^2*c5^2*s2 - c2*c3*c4*c5*s5 + c4*c5*s2*s3*s5) + dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5)) - ddq4r*(c5^2 - 1) - ddq1r*(cos(q2 + q3) - cos(q2 + q3)*c5^2 + sin(q2 + q3)*c4*c5*s5) - dq2r*(dq1*(sin(q2 + q3)*c4^2*c5^2 - sin(q2 + q3)/2 + cos(q2 + q3)*c4*c5*s5) - dq5*(s4/2 - c5^2*s4) + dq2*c4*c5^2*s4 + dq3*c4*c5^2*s4) - dq3r*(dq1*(sin(q2 + q3)*c4^2*c5^2 - sin(q2 + q3)/2 + cos(q2 + q3)*c4*c5*s5) - dq5*(s4/2 - c5^2*s4) + dq2*c4*c5^2*s4 + dq3*c4*c5^2*s4) + dq5r*((dq4*sin(2*q5))/2 + dq2*(s4/2 - c5^2*s4) + dq3*(s4/2 - c5^2*s4) - dq1*(sin(q2 + q3)*c4*c5^2 - (sin(q2 + q3)*c4)/2 + cos(q2 + q3)*c5*s5)) + (dq5*dq4r*sin(2*q5))/2 - ddq2r*c5*s4*s5 - ddq3r*c5*s4*s5;
Y(4,39) =dq2r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2) + (dq5*s4)/2) - dq1r*(dq1*(sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*s2*s4) + dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) + dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2) - dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2)) + dq3r*((dq2*sin(2*q4))/2 + (dq3*sin(2*q4))/2 - dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2) + (dq5*s4)/2) + dq5r*((dq2*s4)/2 + (dq3*s4)/2 + (dq1*sin(q2 + q3)*c4)/2);
Y(4,40) =dq1r*(dq6*(c2*c3*c6*s6 - (c2*s3*s4*s5)/2 - (c3*s2*s4*s5)/2 - c6*s2*s3*s6 + c2*c6^2*s3*s4*s5 + c3*c6^2*s2*s4*s5 + c5^2*c6*s2*s3*s6 - c2*c3*c5^2*c6*s6 + c2*c4*c5*c6*s3*s5*s6 + c3*c4*c5*c6*s2*s5*s6) + dq1*(sin(q2 + q3)*c2*c4*c6^2*s3*s4 - sin(q2 + q3)*c3*c4*s2*s4 - sin(q2 + q3)*c2*c5*c6*s3*s6 - sin(q2 + q3)*c3*c5*c6*s2*s6 - sin(q2 + q3)*c2*c4*s3*s4 + sin(q2 + q3)*c3*c4*c6^2*s2*s4 + (cos(q2 + q3)*c2*c4*c6*s3*s5*s6)/2 + (cos(q2 + q3)*c3*c4*c6*s2*s5*s6)/2 + (sin(q2 + q3)*c2*c3*c4*c6*s5*s6)/2 - (sin(q2 + q3)*c4*c6*s2*s3*s5*s6)/2 + (cos(q2 + q3)*c2*c5*c6^2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c5*c6^2*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c5*c6^2*s4*s5)/2 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s6 - (sin(q2 + q3)*c5*c6^2*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5^2*c6^2*s3*s4 + sin(q2 + q3)*c3*c4*c5^2*c6^2*s2*s4) - dq2*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 - c2*c6^2*s3 - c3*c6^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - c2*c3*c6*s4*s5*s6 + c6*s2*s3*s4*s5*s6 + c2*c3*c4*c5*c6^2*s5 - c4*c5*c6^2*s2*s3*s5 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) - dq3*((c2*s3)/2 + (c3*s2)/2 - c2*c4^2*s3 - c3*c4^2*s2 - c2*c6^2*s3 - c3*c6^2*s2 + c2*c4^2*c6^2*s3 + c3*c4^2*c6^2*s2 + c2*c4^2*c5^2*c6^2*s3 + c3*c4^2*c5^2*c6^2*s2 - c2*c3*c6*s4*s5*s6 + c6*s2*s3*s4*s5*s6 + c2*c3*c4*c5*c6^2*s5 - c4*c5*c6^2*s2*s3*s5 - 2*c2*c4*c5*c6*s3*s4*s6 - 2*c3*c4*c5*c6*s2*s4*s6) + dq5*((c2*c4*s3)/2 + (c3*c4*s2)/2 + c5*c6^2*s2*s3*s5 - c2*c4*c5^2*c6^2*s3 - c3*c4*c5^2*c6^2*s2 - c2*c3*c5*c6^2*s5 + c2*c5*c6*s3*s4*s6 + c3*c5*c6*s2*s4*s6)) - dq2r*(dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 - sin(q2 + q3)*c6^2 + sin(q2 + q3)*c4^2*c6^2 + sin(q2 + q3)*c4^2*c5^2*c6^2 - cos(q2 + q3)*c6*s4*s5*s6 + cos(q2 + q3)*c4*c5*c6^2*s5 - 2*sin(q2 + q3)*c4*c5*c6*s4*s6) - dq6*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq3*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq5*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6)) - dq3r*(dq1*(sin(q2 + q3)/2 - sin(q2 + q3)*c4^2 - sin(q2 + q3)*c6^2 + sin(q2 + q3)*c4^2*c6^2 + sin(q2 + q3)*c4^2*c5^2*c6^2 - cos(q2 + q3)*c6*s4*s5*s6 + cos(q2 + q3)*c4*c5*c6^2*s5 - 2*sin(q2 + q3)*c4*c5*c6*s4*s6) - dq6*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq3*(c4*c6^2*s4 - sin(2*q4)/2 - c5*c6*s6 + 2*c4^2*c5*c6*s6 + c4*c5^2*c6^2*s4) + dq5*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6)) + dq6r*(dq1*(cos(q2 + q3)*c6*s6 - (sin(q2 + q3)*s4*s5)/2 + sin(q2 + q3)*c6^2*s4*s5 - cos(q2 + q3)*c5^2*c6*s6 + sin(q2 + q3)*c4*c5*c6*s5*s6) + dq2*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq3*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) - dq4*(c6*s6 - c5^2*c6*s6) - (dq5*cos(2*q6)*s5)/2) + ddq4r*(c6^2 - c5^2*c6^2) - ddq2r*(c5*c6^2*s4*s5 + c4*c6*s5*s6) - ddq3r*(c5*c6^2*s4*s5 + c4*c6*s5*s6) - ddq1r*(cos(q2 + q3)*c6^2 - cos(q2 + q3)*c5^2*c6^2 - sin(q2 + q3)*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5*c6^2*s5) - dq4r*(dq6*(c6*s6 - c5^2*c6*s6) - dq5*c5*c6^2*s5) - dq5r*(dq2*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6) - dq1*((sin(q2 + q3)*c4)/2 - sin(q2 + q3)*c4*c5^2*c6^2 - cos(q2 + q3)*c5*c6^2*s5 + sin(q2 + q3)*c5*c6*s4*s6) + dq3*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6) + (dq6*cos(2*q6)*s5)/2 + dq5*c5*c6*s6 - dq4*c5*c6^2*s5) - ddq5r*c6*s5*s6;
Y(4,41) =0;
Y(4,42) =0;
Y(4,43) =0;
Y(4,44) =0;
Y(4,45) =0;
Y(4,46) =0;
Y(4,47) =0;
Y(4,48) =-(12700*dq4r)/247;
Y(4,49) =0;
Y(4,50) =0;
Y(4,51) =0;
Y(4,52) =0;
Y(5,1) =0;
Y(5,2) =0;
Y(5,3) =0;
Y(5,4) =0;
Y(5,5) =0;
Y(5,6) =0;
Y(5,7) =0;
Y(5,8) =0;
Y(5,9) =0;
Y(5,10) =0;
Y(5,11) =ddq3r*((13*c5)/100 + (64707*c4*s5)/100000) - dq2r*(dq1*((59*s2*s4*s5)/200 + (64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100 - (59*cos(q2 + q3)*s3*s4*s5)/200 + (59*sin(q2 + q3)*c3*s4*s5)/200) + dq3*((64707*c5)/100000 - (13*c4*s5)/100) - dq2*((59*c5*s3)/100 - (64707*c5)/100000 + (13*c4*s5)/100 + (59*c3*c4*s5)/100)) - dq1r*(dq3*((64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000) - dq1*((59*c2^2*c5*s3)/100 + (3*c2*c5*s3)/20 + (3*c3*c5*s2)/20 + (59*c2^2*c3*c4*s5)/200 + (13*cos(q2 + q3)*c2*c5*s3)/200 + (13*cos(q2 + q3)*c3*c5*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5)/200 + (59*cos(q2 + q3)*c2*c4*s5)/200 - (64707*sin(q2 + q3)*c2*c5*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*s2)/100000 - (13*sin(q2 + q3)*c5*s2*s3)/200 + (59*c2*c3*c5*s2)/100 + (3*c2*c3*c4*s5)/20 - (3*c4*s2*s3*s5)/20 + (13*cos(q2 + q3)*c2*c3*c4*s5)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5)/200000 - (59*c2*c4*s2*s3*s5)/200) + dq2*((59*s2*s4*s5)/100 + (64707*c2*c3*s4*s5)/100000 + (13*c2*s3*s4*s5)/100 + (13*c3*s2*s4*s5)/100 - (64707*s2*s3*s4*s5)/100000)) + ddq2r*((13*c5)/100 + (59*c3*c5)/100 + (64707*c4*s5)/100000 - (59*c4*s3*s5)/100) - c5*((981*c2*c3)/100 - (981*s2*s3)/100) - dq3r*(dq2*((64707*c5)/100000 - (13*c4*s5)/100) + dq3*((64707*c5)/100000 - (13*c4*s5)/100) + dq1*((64707*cos(q2 + q3)*s4*s5)/100000 + (13*sin(q2 + q3)*s4*s5)/100)) + c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100) + (ddq1r*s4*s5*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/100000;
Y(5,12) =dq4r*(dq2*c4*c5 + dq3*c4*c5 - dq1*sin(q2 + q3)*c5*s4) + dq2r*(dq4*c4*c5 - dq1*(sin(q2 + q3)*s5 - sin(q2 + q3)*c4^2*s5) + dq2*c4*s4*s5 + dq3*c4*s4*s5) + dq3r*(dq4*c4*c5 - dq1*(sin(q2 + q3)*s5 - sin(q2 + q3)*c4^2*s5) + dq2*c4*s4*s5 + dq3*c4*s4*s5) - ddq4r*s5 + ddq1r*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5) - dq1r*(dq2*(c2*s3*s5 + c3*s2*s5 - c2*c4^2*s3*s5 - c3*c4^2*s2*s5) + dq3*(c2*s3*s5 + c3*s2*s5 - c2*c4^2*s3*s5 - c3*c4^2*s2*s5) + dq4*(c2*c5*s3*s4 + c3*c5*s2*s4) - dq1*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5)) + ddq2r*c5*s4 + ddq3r*c5*s4;
Y(5,13) =dq2r*(dq2*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq3*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq1*(2*sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + 2*cos(q2 + q3)*c5*s4*s5) - 2*dq4*c5*s4*s5) - dq4r*(dq1*(cos(q2 + q3) - 2*cos(q2 + q3)*c5^2 + 2*sin(q2 + q3)*c4*c5*s5) + dq4*cos(2*q5) + 2*dq2*c5*s4*s5 + 2*dq3*c5*s4*s5) - dq1r*(dq4*(c2*c3 - s2*s3 - 2*c2*c3*c5^2 + 2*c5^2*s2*s3 + 2*c2*c4*c5*s3*s5 + 2*c3*c4*c5*s2*s5) - dq1*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*c4^2*s3 - sin(q2 + q3)*c3*c4^2*s2 + 2*cos(q2 + q3)*c5^2*s2*s3 - 2*cos(q2 + q3)*c2*c3*c5^2 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5) + dq2*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5) + dq3*(c2*c4*s3*s4 + c3*c4*s2*s4 - 2*c2*c4*c5^2*s3*s4 - 2*c3*c4*c5^2*s2*s4 - 2*c2*c3*c5*s4*s5 + 2*c5*s2*s3*s4*s5)) + dq3r*(dq2*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq3*(cos(2*q5) + c4^2 - 2*c4^2*c5^2) + dq1*(2*sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 + 2*cos(q2 + q3)*c5*s4*s5) - 2*dq4*c5*s4*s5);
Y(5,14) =ddq1r*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5) - dq2r*(dq1*(sin(q2 + q3)*c5 - sin(q2 + q3)*c4^2*c5) + dq4*c4*s5 - dq2*c4*c5*s4 - dq3*c4*c5*s4) - dq3r*(dq1*(sin(q2 + q3)*c5 - sin(q2 + q3)*c4^2*c5) + dq4*c4*s5 - dq2*c4*c5*s4 - dq3*c4*c5*s4) - dq1r*(dq1*((cos(q2 + q3)*c2*s3*s4*s5)/2 + (cos(q2 + q3)*c3*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*s4*s5)/2 - (sin(q2 + q3)*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*s3*s4 + sin(q2 + q3)*c3*c4*c5*s2*s4) + dq2*(c2*c5*s3 + c3*c5*s2 - c2*c4^2*c5*s3 - c3*c4^2*c5*s2) + dq3*(c2*c5*s3 + c3*c5*s2 - c2*c4^2*c5*s3 - c3*c4^2*c5*s2) - dq4*(c2*s3*s4*s5 + c3*s2*s4*s5)) - ddq4r*c5 - dq4r*(dq2*c4*s5 + dq3*c4*s5 - dq1*sin(q2 + q3)*s4*s5) - ddq2r*s4*s5 - ddq3r*s4*s5;
Y(5,15) =ddq5r;
Y(5,16) =ddq3r*((13*c5*c6)/100 - (64707*c6*s4)/5000000 + (13*s5*s6)/5000 - (64707*c4*c5*s6)/5000000 + (64707*c4*c6*s5)/100000) - (s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)))/50 + dq2r*(dq5*((13*c5*s6)/10000 + (59*c3*c5*s6)/10000 + (64707*c4*s5*s6)/10000000 - (59*c4*s3*s5*s6)/10000) + dq2*((59*c5*c6*s3)/100 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c6*s5)/100) + dq3*((59*c3*c6*s4)/10000 - (59*s3*s5*s6)/10000 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c5*s6)/10000) - dq1*((64707*cos(q2 + q3)*c4*c6)/10000000 + (13*sin(q2 + q3)*c4*c6)/10000 + (59*c4*c6*s2)/10000 - (64707*cos(q2 + q3)*c5*s4*s6)/10000000 + (64707*cos(q2 + q3)*c6*s4*s5)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/10000 + (13*sin(q2 + q3)*c6*s4*s5)/100 - (59*c5*s2*s4*s6)/10000 + (59*c6*s2*s4*s5)/200 - (59*cos(q2 + q3)*c6*s3*s4*s5)/200 + (59*sin(q2 + q3)*c3*c6*s4*s5)/200) - dq4*((64707*c4*c6)/10000000 - (59*c4*c6*s3)/10000 - (64707*c5*s4*s6)/10000000 + (59*c5*s3*s4*s6)/10000) + dq6*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (59*s3*s4*s6)/10000 - (64707*c4*c5*c6)/10000000 + (59*c3*c6*s5)/10000 + (59*c4*c5*c6*s3)/10000)) + dq6r*(dq3*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (64707*c4*c5*c6)/10000000) - dq1*(((c4*s6 + 50*s4*s5*s6 + c5*c6*s4)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (s4*s5*s6*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/200000) + dq2*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (59*s3*s4*s6)/10000 - (64707*c4*c5*c6)/10000000 + (59*c3*c6*s5)/10000 + (59*c4*c5*c6*s3)/10000)) + ddq2r*((13*c5*c6)/100 - (64707*c6*s4)/5000000 + (13*s5*s6)/5000 + (59*c3*c5*c6)/100 - (64707*c4*c5*s6)/5000000 + (64707*c4*c6*s5)/100000 + (59*c6*s3*s4)/5000 + (59*c3*s5*s6)/5000 + (59*c4*c5*s3*s6)/5000 - (59*c4*c6*s3*s5)/100) - dq4r*(dq3*((64707*c4*c6)/10000000 - (64707*c5*s4*s6)/10000000) + dq1*((3*c6*s4)/2000 + (13*cos(q2 + q3)*c6*s4)/10000 - (64707*sin(q2 + q3)*c6*s4)/10000000 + (59*c2*c6*s4)/10000 + (3*c4*c5*s6)/2000 + (13*cos(q2 + q3)*c4*c5*s6)/10000 - (64707*sin(q2 + q3)*c4*c5*s6)/10000000 + (59*c2*c4*c5*s6)/10000) + dq2*((64707*c4*c6)/10000000 - (59*c4*c6*s3)/10000 - (64707*c5*s4*s6)/10000000 + (59*c5*s3*s4*s6)/10000)) - dq3r*(dq3*((64707*c5*c6)/100000 - (13*c4*c6*s5)/100) + dq4*((64707*c4*c6)/10000000 - (64707*c5*s4*s6)/10000000) + dq1*((64707*cos(q2 + q3)*c4*c6)/10000000 + (13*sin(q2 + q3)*c4*c6)/10000 - (64707*cos(q2 + q3)*c5*s4*s6)/10000000 + (64707*cos(q2 + q3)*c6*s4*s5)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/10000 + (13*sin(q2 + q3)*c6*s4*s5)/100) - dq5*((13*c5*s6)/10000 + (64707*c4*s5*s6)/10000000) - dq6*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (64707*c4*c5*c6)/10000000) - dq2*((59*c3*c6*s4)/10000 - (59*s3*s5*s6)/10000 - (64707*c5*c6)/100000 + (13*c4*c6*s5)/100 + (59*c3*c4*c5*s6)/10000)) - dq1r*(dq2*((59*c4*c6*s2)/10000 + (64707*c2*c3*c4*c6)/10000000 + (13*c2*c4*c6*s3)/10000 + (13*c3*c4*c6*s2)/10000 - (64707*c4*c6*s2*s3)/10000000 - (59*c5*s2*s4*s6)/10000 + (59*c6*s2*s4*s5)/100 - (64707*c2*c3*c5*s4*s6)/10000000 + (64707*c2*c3*c6*s4*s5)/100000 - (13*c2*c5*s3*s4*s6)/10000 + (13*c2*c6*s3*s4*s5)/100 - (13*c3*c5*s2*s4*s6)/10000 + (13*c3*c6*s2*s4*s5)/100 + (64707*c5*s2*s3*s4*s6)/10000000 - (64707*c6*s2*s3*s4*s5)/100000) - dq5*((3*s4*s5*s6)/2000 + (59*c2*s4*s5*s6)/10000 + (13*c2*c3*s4*s5*s6)/10000 - (64707*c2*s3*s4*s5*s6)/10000000 - (64707*c3*s2*s4*s5*s6)/10000000 - (13*s2*s3*s4*s5*s6)/10000) + dq6*(((c4*s6 + 50*s4*s5*s6 + c5*c6*s4)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (3*s4*s5*s6)/40 - (59*c2*s4*s5*s6)/200 - (13*c2*c3*s4*s5*s6)/200 + (64707*c2*s3*s4*s5*s6)/200000 + (64707*c3*s2*s4*s5*s6)/200000 + (13*s2*s3*s4*s5*s6)/200) + dq4*((3*c6*s4)/2000 + (59*c2*c6*s4)/10000 + (3*c4*c5*s6)/2000 + (13*c2*c3*c6*s4)/10000 + (59*c2*c4*c5*s6)/10000 - (64707*c2*c6*s3*s4)/10000000 - (64707*c3*c6*s2*s4)/10000000 - (13*c6*s2*s3*s4)/10000 + (13*c2*c3*c4*c5*s6)/10000 - (64707*c2*c4*c5*s3*s6)/10000000 - (64707*c3*c4*c5*s2*s6)/10000000 - (13*c4*c5*s2*s3*s6)/10000) + dq3*((64707*c2*c3*c4*c6)/10000000 + (13*c2*c4*c6*s3)/10000 + (13*c3*c4*c6*s2)/10000 - (64707*c4*c6*s2*s3)/10000000 - (64707*c2*c3*c5*s4*s6)/10000000 + (64707*c2*c3*c6*s4*s5)/100000 - (13*c2*c5*s3*s4*s6)/10000 + (13*c2*c6*s3*s4*s5)/100 - (13*c3*c5*s2*s4*s6)/10000 + (13*c3*c6*s2*s4*s5)/100 + (64707*c5*s2*s3*s4*s6)/10000000 - (64707*c6*s2*s3*s4*s5)/100000) - dq1*((3*sin(q2 + q3)*c5*c6)/40 + (59*c2^2*c5*c6*s3)/200 + (59*sin(q2 + q3)*c2*c5*c6)/200 + (3*cos(q2 + q3)*c4*c6*s5)/40 + (3*c2*c5*c6*s3)/40 + (3*c3*c5*c6*s2)/40 + (13*cos(q2 + q3)*c2*c5*c6*s3)/200 + (13*cos(q2 + q3)*c3*c5*c6*s2)/200 + (13*sin(q2 + q3)*c2*c3*c5*c6)/200 + (59*cos(q2 + q3)*c2*c4*c6*s5)/200 - (64707*sin(q2 + q3)*c2*c5*c6*s3)/100000 - (64707*sin(q2 + q3)*c3*c5*c6*s2)/100000 - (13*sin(q2 + q3)*c5*c6*s2*s3)/200 + (59*c2*c3*c5*c6*s2)/200 + (3*c2*c3*c4*c6*s5)/40 - (3*c4*c6*s2*s3*s5)/40 + (59*c2^2*c3*c4*c6*s5)/200 + (13*cos(q2 + q3)*c2*c3*c4*c6*s5)/100 - (64707*cos(q2 + q3)*c2*c4*c6*s3*s5)/200000 - (64707*cos(q2 + q3)*c3*c4*c6*s2*s5)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*c6*s5)/200000 - (13*cos(q2 + q3)*c4*c6*s2*s3*s5)/100 + (64707*sin(q2 + q3)*c4*c6*s2*s3*s5)/200000 - (59*c2*c4*c6*s2*s3*s5)/200)) - c6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) - (c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100))/50 + (ddq1r*(c4*c6 - c5*s4*s6 + 50*c6*s4*s5)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/5000000;
Y(5,17) =s6*(c5*((981*c2*c3)/100 - (981*s2*s3)/100) - c4*s5*((981*c2*s3)/100 + (981*c3*s2)/100)) - dq2r*(dq2*((59*c5*s3*s6)/100 - (64707*c5*s6)/100000 + (13*c4*s5*s6)/100 + (59*c3*c4*s5*s6)/100) + dq6*((13*s5*s6)/10000 - (64707*c6*s4)/10000000 - (64707*c4*c5*s6)/10000000 + (59*c6*s3*s4)/10000 + (59*c3*s5*s6)/10000 + (59*c4*c5*s3*s6)/10000) - dq1*((64707*cos(q2 + q3)*c4*s6)/10000000 + (13*sin(q2 + q3)*c4*s6)/10000 + (59*c4*s2*s6)/10000 + (64707*cos(q2 + q3)*c5*c6*s4)/10000000 + (13*sin(q2 + q3)*c5*c6*s4)/10000 + (64707*cos(q2 + q3)*s4*s5*s6)/100000 + (13*sin(q2 + q3)*s4*s5*s6)/100 + (59*c5*c6*s2*s4)/10000 + (59*s2*s4*s5*s6)/200 - (59*cos(q2 + q3)*s3*s4*s5*s6)/200 + (59*sin(q2 + q3)*c3*s4*s5*s6)/200) - dq5*((13*c5*c6)/10000 + (59*c3*c5*c6)/10000 + (64707*c4*c6*s5)/10000000 - (59*c4*c6*s3*s5)/10000) + dq3*((59*c3*s4*s6)/10000 - (64707*c5*s6)/100000 + (59*c6*s3*s5)/10000 + (13*c4*s5*s6)/100 - (59*c3*c4*c5*c6)/10000) - dq4*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000 - (59*c4*s3*s6)/10000 - (59*c5*c6*s3*s4)/10000)) + dq3r*(dq5*((13*c5*c6)/10000 + (64707*c4*c6*s5)/10000000) + dq4*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000) + dq3*((64707*c5*s6)/100000 - (13*c4*s5*s6)/100) + dq6*((64707*c6*s4)/10000000 - (13*s5*s6)/10000 + (64707*c4*c5*s6)/10000000) + dq1*((64707*cos(q2 + q3)*c4*s6)/10000000 + (13*sin(q2 + q3)*c4*s6)/10000 + (64707*cos(q2 + q3)*c5*c6*s4)/10000000 + (13*sin(q2 + q3)*c5*c6*s4)/10000 + (64707*cos(q2 + q3)*s4*s5*s6)/100000 + (13*sin(q2 + q3)*s4*s5*s6)/100) - dq2*((59*c3*s4*s6)/10000 - (64707*c5*s6)/100000 + (59*c6*s3*s5)/10000 + (13*c4*s5*s6)/100 - (59*c3*c4*c5*c6)/10000)) + dq1r*(dq3*((64707*c2*c3*c4*s6)/10000000 + (13*c2*c4*s3*s6)/10000 + (13*c3*c4*s2*s6)/10000 - (64707*c4*s2*s3*s6)/10000000 + (64707*c2*c3*c5*c6*s4)/10000000 + (13*c2*c5*c6*s3*s4)/10000 + (13*c3*c5*c6*s2*s4)/10000 + (64707*c2*c3*s4*s5*s6)/100000 - (64707*c5*c6*s2*s3*s4)/10000000 + (13*c2*s3*s4*s5*s6)/100 + (13*c3*s2*s4*s5*s6)/100 - (64707*s2*s3*s4*s5*s6)/100000) - dq6*(((c4*c6 - c5*s4*s6 + 50*c6*s4*s5)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (3*c6*s4*s5)/40 - (59*c2*c6*s4*s5)/200 - (13*c2*c3*c6*s4*s5)/200 + (64707*c2*c6*s3*s4*s5)/200000 + (64707*c3*c6*s2*s4*s5)/200000 + (13*c6*s2*s3*s4*s5)/200) - dq1*((3*sin(q2 + q3)*c5*s6)/40 + (59*c2^2*c5*s3*s6)/200 + (59*sin(q2 + q3)*c2*c5*s6)/200 + (3*cos(q2 + q3)*c4*s5*s6)/40 + (3*c2*c5*s3*s6)/40 + (3*c3*c5*s2*s6)/40 + (59*c2^2*c3*c4*s5*s6)/200 + (13*cos(q2 + q3)*c2*c5*s3*s6)/200 + (13*cos(q2 + q3)*c3*c5*s2*s6)/200 + (13*sin(q2 + q3)*c2*c3*c5*s6)/200 + (59*cos(q2 + q3)*c2*c4*s5*s6)/200 - (64707*sin(q2 + q3)*c2*c5*s3*s6)/100000 - (64707*sin(q2 + q3)*c3*c5*s2*s6)/100000 - (13*sin(q2 + q3)*c5*s2*s3*s6)/200 + (59*c2*c3*c5*s2*s6)/200 + (3*c2*c3*c4*s5*s6)/40 - (3*c4*s2*s3*s5*s6)/40 + (13*cos(q2 + q3)*c2*c3*c4*s5*s6)/100 - (64707*cos(q2 + q3)*c2*c4*s3*s5*s6)/200000 - (64707*cos(q2 + q3)*c3*c4*s2*s5*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*c4*s5*s6)/200000 - (13*cos(q2 + q3)*c4*s2*s3*s5*s6)/100 + (64707*sin(q2 + q3)*c4*s2*s3*s5*s6)/200000 - (59*c2*c4*s2*s3*s5*s6)/200) + dq4*((3*s4*s6)/2000 - (3*c4*c5*c6)/2000 + (59*c2*s4*s6)/10000 - (59*c2*c4*c5*c6)/10000 + (13*c2*c3*s4*s6)/10000 - (64707*c2*s3*s4*s6)/10000000 - (64707*c3*s2*s4*s6)/10000000 - (13*s2*s3*s4*s6)/10000 - (13*c2*c3*c4*c5*c6)/10000 + (64707*c2*c4*c5*c6*s3)/10000000 + (64707*c3*c4*c5*c6*s2)/10000000 + (13*c4*c5*c6*s2*s3)/10000) + dq5*((3*c6*s4*s5)/2000 + (59*c2*c6*s4*s5)/10000 + (13*c2*c3*c6*s4*s5)/10000 - (64707*c2*c6*s3*s4*s5)/10000000 - (64707*c3*c6*s2*s4*s5)/10000000 - (13*c6*s2*s3*s4*s5)/10000) + dq2*((59*c4*s2*s6)/10000 + (64707*c2*c3*c4*s6)/10000000 + (13*c2*c4*s3*s6)/10000 + (13*c3*c4*s2*s6)/10000 + (59*c5*c6*s2*s4)/10000 - (64707*c4*s2*s3*s6)/10000000 + (59*s2*s4*s5*s6)/100 + (64707*c2*c3*c5*c6*s4)/10000000 + (13*c2*c5*c6*s3*s4)/10000 + (13*c3*c5*c6*s2*s4)/10000 + (64707*c2*c3*s4*s5*s6)/100000 - (64707*c5*c6*s2*s3*s4)/10000000 + (13*c2*s3*s4*s5*s6)/100 + (13*c3*s2*s4*s5*s6)/100 - (64707*s2*s3*s4*s5*s6)/100000)) - ddq3r*((13*c5*s6)/100 - (13*c6*s5)/5000 - (64707*s4*s6)/5000000 + (64707*c4*c5*c6)/5000000 + (64707*c4*s5*s6)/100000) - dq6r*(dq2*((13*s5*s6)/10000 - (64707*c6*s4)/10000000 - (64707*c4*c5*s6)/10000000 + (59*c6*s3*s4)/10000 + (59*c3*s5*s6)/10000 + (59*c4*c5*s3*s6)/10000) + dq1*(((c4*c6 - c5*s4*s6 + 50*c6*s4*s5)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (c6*s4*s5*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/200000) - dq3*((64707*c6*s4)/10000000 - (13*s5*s6)/10000 + (64707*c4*c5*s6)/10000000)) + dq4r*(dq3*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000) + dq1*((3*s4*s6)/2000 + (13*cos(q2 + q3)*s4*s6)/10000 - (3*c4*c5*c6)/2000 - (64707*sin(q2 + q3)*s4*s6)/10000000 + (59*c2*s4*s6)/10000 - (13*cos(q2 + q3)*c4*c5*c6)/10000 + (64707*sin(q2 + q3)*c4*c5*c6)/10000000 - (59*c2*c4*c5*c6)/10000) + dq2*((64707*c4*s6)/10000000 + (64707*c5*c6*s4)/10000000 - (59*c4*s3*s6)/10000 - (59*c5*c6*s3*s4)/10000)) - ddq2r*((13*c5*s6)/100 - (13*c6*s5)/5000 - (64707*s4*s6)/5000000 + (59*s3*s4*s6)/5000 + (64707*c4*c5*c6)/5000000 + (59*c3*c5*s6)/100 - (59*c3*c6*s5)/5000 + (64707*c4*s5*s6)/100000 - (59*c4*c5*c6*s3)/5000 - (59*c4*s3*s5*s6)/100) - (c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)))/50 + (s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100))/50 - (ddq1r*(c4*s6 + 50*s4*s5*s6 + c5*c6*s4)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/5000000;
Y(5,18) =ddq5r*sin(2*q6) - dq4r*(dq1*(2*sin(q2 + q3)*c5*c6^2*s4 - sin(q2 + q3)*c5*s4 + 2*cos(q2 + q3)*c5*c6*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*c6*s6) + dq2*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) + dq3*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6) - 2*dq6*c6*s5*s6 - 2*dq4*c5*c6*s5*s6) + ddq2r*(2*c5*c6^2*s4 - c5*s4 + 2*c4*c6*s6) + ddq4r*(s5 - 2*c6^2*s5) - dq6r*(dq2*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq3*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c6^2*s4 - sin(q2 + q3)*s4*s6^2 + 2*cos(q2 + q3)*c6*s5*s6 + 2*sin(q2 + q3)*c4*c5*c6*s6) - dq5*cos(2*q6) - 2*dq4*c6*s5*s6) - ddq1r*(cos(q2 + q3)*s5 - 2*cos(q2 + q3)*c6^2*s5 + sin(q2 + q3)*c4*c5 + 2*sin(q2 + q3)*c6*s4*s6 - 2*sin(q2 + q3)*c4*c5*c6^2) - dq1r*(dq6*(2*sin(q2 + q3)*c6^2*s4 - sin(q2 + q3)*s4 + 2*cos(q2 + q3)*c6*s5*s6 + 2*sin(q2 + q3)*c4*c5*c6*s6) + dq2*(c2*c4^2*s3*s5 - c3*s2*s5 - c2*s3*s5 + c3*c4^2*s2*s5 + 2*c2*c6^2*s3*s5 + 2*c3*c6^2*s2*s5 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c6*s4*s6 - 2*c6*s2*s3*s4*s6 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) + dq3*(c2*c4^2*s3*s5 - c3*s2*s5 - c2*s3*s5 + c3*c4^2*s2*s5 + 2*c2*c6^2*s3*s5 + 2*c3*c6^2*s2*s5 - 2*c2*c4^2*c6^2*s3*s5 - 2*c3*c4^2*c6^2*s2*s5 + 2*c2*c3*c6*s4*s6 - 2*c6*s2*s3*s4*s6 - 2*c2*c3*c5^2*c6*s4*s6 + 2*c5^2*c6*s2*s3*s4*s6 + 2*c2*c4*c5*c6*s3*s4*s5*s6 + 2*c3*c4*c5*c6*s2*s4*s5*s6) + dq4*(2*c2*c5*c6^2*s3*s4 - c3*c5*s2*s4 - c2*c5*s3*s4 + 2*c3*c5*c6^2*s2*s4 + 2*c2*c3*c5*c6*s5*s6 - 2*c5*c6*s2*s3*s5*s6 + 2*c2*c4*c5^2*c6*s3*s6 + 2*c3*c4*c5^2*c6*s2*s6) + dq1*((cos(q2 + q3)*c2*c5*s3*s4)/2 + (cos(q2 + q3)*c3*c5*s2*s4)/2 + (sin(q2 + q3)*c2*c3*c5*s4)/2 - (sin(q2 + q3)*c5*s2*s3*s4)/2 + cos(q2 + q3)*c2*c4*c6*s3*s6 + cos(q2 + q3)*c3*c4*c6*s2*s6 + sin(q2 + q3)*c2*c3*c4*c6*s6 - sin(q2 + q3)*c2*c4*s3*s4*s5 - sin(q2 + q3)*c3*c4*s2*s4*s5 - sin(q2 + q3)*c4*c6*s2*s3*s6 - cos(q2 + q3)*c2*c5*c6^2*s3*s4 - cos(q2 + q3)*c3*c5*c6^2*s2*s4 - sin(q2 + q3)*c2*c3*c5*c6^2*s4 + sin(q2 + q3)*c5*c6^2*s2*s3*s4 - 2*cos(q2 + q3)*c2*c3*c5*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6*s2*s3*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5^2*c6*s3*s6 - 2*cos(q2 + q3)*c3*c4*c5^2*c6*s2*s6 - 2*sin(q2 + q3)*c2*c3*c4*c5^2*c6*s6 + 2*sin(q2 + q3)*c2*c4*c6^2*s3*s4*s5 + 2*sin(q2 + q3)*c3*c4*c6^2*s2*s4*s5 + 2*sin(q2 + q3)*c4*c5^2*c6*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5*s6 + 2*sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5*s6)) + ddq3r*(c5*c6^2*s4 - c5*s4*s6^2 + 2*c4*c6*s6) - dq2r*(dq2*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq3*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c4^2*s5 - sin(q2 + q3)*s5 + 2*sin(q2 + q3)*c6^2*s5 - 2*sin(q2 + q3)*c4^2*c6^2*s5 + 2*cos(q2 + q3)*c6*s4*s6 - 2*cos(q2 + q3)*c5^2*c6*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5*s6) + dq4*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6)) - dq3r*(dq2*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq3*(c4*s4*s5 - 2*c4*c6^2*s4*s5 + 2*c5*c6*s5*s6 - 2*c4^2*c5*c6*s5*s6) + dq6*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c4^2*s5 - sin(q2 + q3)*s5 + 2*sin(q2 + q3)*c6^2*s5 - 2*sin(q2 + q3)*c4^2*c6^2*s5 + 2*cos(q2 + q3)*c6*s4*s6 - 2*cos(q2 + q3)*c5^2*c6*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s4*s5*s6) + dq4*(c4*c5 - 2*c4*c5*c6^2 + 2*c5^2*c6*s4*s6)) + dq6*dq5r*cos(2*q6);
Y(5,19) =ddq2r*((c4*s6)/50 - s4*s5*s6 + (c5*c6*s4)/50) + ddq3r*((c4*s6)/50 - s4*s5*s6 + (c5*c6*s4)/50) - dq1r*(dq6*((s6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 - (c6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 + (sin(q2 + q3)*c6*s4)/100 - (c2*c3*c5*c6)/2 + (c5*c6*s2*s3)/2 + (c2*c4*c6*s3*s5)/2 + (c3*c4*c6*s2*s5)/2) + dq2*((c2*c3*s4*s6)/100 + c2*c5*s3*s6 + (c2*c6*s3*s5)/100 + c3*c5*s2*s6 + (c3*c6*s2*s5)/100 - (s2*s3*s4*s6)/100 - c2*c4^2*c5*s3*s6 - c3*c4^2*c5*s2*s6 - (c2*c3*c4*c5*c6)/100 + c2*c4*c6*s3*s4 + c3*c4*c6*s2*s4 + (c4*c5*c6*s2*s3)/100 - 2*c2*c3*c5*c6*s4*s5 + 2*c5*c6*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6*s3*s4 - 2*c3*c4*c5^2*c6*s2*s4) + dq3*((c2*c3*s4*s6)/100 + c2*c5*s3*s6 + (c2*c6*s3*s5)/100 + c3*c5*s2*s6 + (c3*c6*s2*s5)/100 - (s2*s3*s4*s6)/100 - c2*c4^2*c5*s3*s6 - c3*c4^2*c5*s2*s6 - (c2*c3*c4*c5*c6)/100 + c2*c4*c6*s3*s4 + c3*c4*c6*s2*s4 + (c4*c5*c6*s2*s3)/100 - 2*c2*c3*c5*c6*s4*s5 + 2*c5*c6*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6*s3*s4 - 2*c3*c4*c5^2*c6*s2*s4) + dq1*(cos(q2 + q3)*c6*s2*s3 - cos(q2 + q3)*c2*c3*c6 + 2*cos(q2 + q3)*c2*c3*c5^2*c6 + sin(q2 + q3)*c2*c4^2*c6*s3 + sin(q2 + q3)*c3*c4^2*c6*s2 - 2*cos(q2 + q3)*c5^2*c6*s2*s3 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6*s2 + (cos(q2 + q3)*c2*s3*s4*s5*s6)/2 + (cos(q2 + q3)*c3*s2*s4*s5*s6)/2 + (sin(q2 + q3)*c2*c3*s4*s5*s6)/2 - (sin(q2 + q3)*s2*s3*s4*s5*s6)/2 - 2*cos(q2 + q3)*c2*c4*c5*c6*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6*s5 + sin(q2 + q3)*c2*c4*c5*s3*s4*s6 + sin(q2 + q3)*c3*c4*c5*s2*s4*s6 + 2*sin(q2 + q3)*c4*c5*c6*s2*s3*s5) + dq4*(c2*c3*c6 - c6*s2*s3 - 2*c2*c3*c5^2*c6 + 2*c5^2*c6*s2*s3 + (c2*c4*s3*s6)/100 + (c3*c4*s2*s6)/100 + (c2*c5*c6*s3*s4)/100 + (c3*c5*c6*s2*s4)/100 - c2*s3*s4*s5*s6 - c3*s2*s4*s5*s6 + 2*c2*c4*c5*c6*s3*s5 + 2*c3*c4*c5*c6*s2*s5) + dq5*((c5*c6*s2*s3)/100 - (c2*c3*c5*c6)/100 + (c2*c4*c6*s3*s5)/100 + (c3*c4*c6*s2*s5)/100)) - ddq4r*(c5*s6 + (c6*s5)/50) + ddq1r*((c6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/50 + s6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5) - (sin(q2 + q3)*s4*s6)/50) + (ddq5r*s6)/50 - ddq6r*s6 - dq6r*(dq2*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) + dq3*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) + dq4*(c5*c6 - (s5*s6)/100) - (dq5*c6)/100 + dq6*c6 + dq1*((s6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 - (c6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 - (cos(q2 + q3)*c5*c6)/2 + (sin(q2 + q3)*c6*s4)/100 + (sin(q2 + q3)*c4*c6*s5)/2)) - dq2r*(dq6*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) - dq2*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) - dq3*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) + dq4*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + dq1*((cos(q2 + q3)*s4*s6)/100 + sin(q2 + q3)*c5*s6 + (sin(q2 + q3)*c6*s5)/100 - sin(q2 + q3)*c4^2*c5*s6 - (cos(q2 + q3)*c4*c5*c6)/100 + sin(q2 + q3)*c4*c6*s4 - 2*cos(q2 + q3)*c5*c6*s4*s5 - 2*sin(q2 + q3)*c4*c5^2*c6*s4) + (dq5*c6*s4*s5)/100) - dq3r*(dq6*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) - dq2*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) - dq3*(c4^2*c6 - c6 + 2*c5^2*c6 - 2*c4^2*c5^2*c6 + c4*c5*s4*s6) + dq4*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + dq1*((cos(q2 + q3)*s4*s6)/100 + sin(q2 + q3)*c5*s6 + (sin(q2 + q3)*c6*s5)/100 - sin(q2 + q3)*c4^2*c5*s6 - (cos(q2 + q3)*c4*c5*c6)/100 + sin(q2 + q3)*c4*c6*s4 - 2*cos(q2 + q3)*c5*c6*s4*s5 - 2*sin(q2 + q3)*c4*c5^2*c6*s4) + (dq5*c6*s4*s5)/100) - dq4r*(dq6*(c5*c6 - (s5*s6)/100) - dq4*(c6 - 2*c5^2*c6) + dq1*(cos(q2 + q3)*c6 - 2*cos(q2 + q3)*c5^2*c6 + (sin(q2 + q3)*c4*s6)/100 + (sin(q2 + q3)*c5*c6*s4)/100 - sin(q2 + q3)*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5*c6*s5) + dq2*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + dq3*((s4*s6)/100 - (c4*c5*c6)/100 + c4*s5*s6 + 2*c5*c6*s4*s5) + (dq5*c5*c6)/100) + (dq6*dq5r*c6)/100;
Y(5,20) =dq1r*(dq5*((c5*s2*s3*s6)/100 - (c2*c3*c5*s6)/100 + (c2*c4*s3*s5*s6)/100 + (c3*c4*s2*s5*s6)/100) + dq6*((sin(q2 + q3)*s4*s6)/100 - (s6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 - (c6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 - (c2*c3*c5*s6)/2 + (c5*s2*s3*s6)/2 + (c2*c4*s3*s5*s6)/2 + (c3*c4*s2*s5*s6)/2) + dq2*((c6*s2*s3*s4)/100 - c2*c5*c6*s3 - c3*c5*c6*s2 - (c2*c3*c6*s4)/100 + (c2*s3*s5*s6)/100 + (c3*s2*s5*s6)/100 - (c2*c3*c4*c5*s6)/100 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 + (c4*c5*s2*s3*s6)/100 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6) + dq3*((c6*s2*s3*s4)/100 - c2*c5*c6*s3 - c3*c5*c6*s2 - (c2*c3*c6*s4)/100 + (c2*s3*s5*s6)/100 + (c3*s2*s5*s6)/100 - (c2*c3*c4*c5*s6)/100 + c2*c4*s3*s4*s6 + c3*c4*s2*s4*s6 + (c4*c5*s2*s3*s6)/100 + c2*c4^2*c5*c6*s3 + c3*c4^2*c5*c6*s2 - 2*c2*c3*c5*s4*s5*s6 + 2*c5*s2*s3*s4*s5*s6 - 2*c2*c4*c5^2*s3*s4*s6 - 2*c3*c4*c5^2*s2*s4*s6) - dq1*(cos(q2 + q3)*c2*c3*s6 - cos(q2 + q3)*s2*s3*s6 - 2*cos(q2 + q3)*c2*c3*c5^2*s6 - sin(q2 + q3)*c2*c4^2*s3*s6 - sin(q2 + q3)*c3*c4^2*s2*s6 + 2*cos(q2 + q3)*c5^2*s2*s3*s6 + 2*sin(q2 + q3)*c2*c4^2*c5^2*s3*s6 + 2*sin(q2 + q3)*c3*c4^2*c5^2*s2*s6 + (cos(q2 + q3)*c2*c6*s3*s4*s5)/2 + (cos(q2 + q3)*c3*c6*s2*s4*s5)/2 + (sin(q2 + q3)*c2*c3*c6*s4*s5)/2 - (sin(q2 + q3)*c6*s2*s3*s4*s5)/2 + sin(q2 + q3)*c2*c4*c5*c6*s3*s4 + sin(q2 + q3)*c3*c4*c5*c6*s2*s4 + 2*cos(q2 + q3)*c2*c4*c5*s3*s5*s6 + 2*cos(q2 + q3)*c3*c4*c5*s2*s5*s6 + 2*sin(q2 + q3)*c2*c3*c4*c5*s5*s6 - 2*sin(q2 + q3)*c4*c5*s2*s3*s5*s6) + dq4*(c2*c3*s6 - s2*s3*s6 - 2*c2*c3*c5^2*s6 + 2*c5^2*s2*s3*s6 - (c2*c4*c6*s3)/100 - (c3*c4*c6*s2)/100 + (c2*c5*s3*s4*s6)/100 + c2*c6*s3*s4*s5 + (c3*c5*s2*s4*s6)/100 + c3*c6*s2*s4*s5 + 2*c2*c4*c5*s3*s5*s6 + 2*c3*c4*c5*s2*s5*s6)) - dq6r*(dq2*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) + dq3*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) - dq4*(c5*s6 + (c6*s5)/100) + (dq5*s6)/100 - dq6*s6 + dq1*((c6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 + (s6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 + (cos(q2 + q3)*c5*s6)/2 - (sin(q2 + q3)*s4*s6)/100 - (sin(q2 + q3)*c4*s5*s6)/2)) - ddq2r*((c5*s4*s6)/50 - (c4*c6)/50 + c6*s4*s5) - ddq3r*((c5*s4*s6)/50 - (c4*c6)/50 + c6*s4*s5) + dq4r*(dq6*(c5*s6 + (c6*s5)/100) - dq4*(s6 - 2*c5^2*s6) + dq1*(cos(q2 + q3)*s6 - 2*cos(q2 + q3)*c5^2*s6 - (sin(q2 + q3)*c4*c6)/100 + (sin(q2 + q3)*c5*s4*s6)/100 + sin(q2 + q3)*c6*s4*s5 + 2*sin(q2 + q3)*c4*c5*s5*s6) - dq2*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) - dq3*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) + (dq5*c5*s6)/100) - ddq4r*(c5*c6 - (s5*s6)/50) - ddq1r*((s6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/50 - c6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5) + (sin(q2 + q3)*c6*s4)/50) + (ddq5r*c6)/50 - ddq6r*c6 - dq2r*(dq1*((cos(q2 + q3)*c6*s4)/100 + sin(q2 + q3)*c5*c6 - (sin(q2 + q3)*s5*s6)/100 + (cos(q2 + q3)*c4*c5*s6)/100 - sin(q2 + q3)*c4*s4*s6 - sin(q2 + q3)*c4^2*c5*c6 + 2*cos(q2 + q3)*c5*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*s4*s6) + dq6*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) - dq2*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) - dq3*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) + dq4*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) - (dq5*s4*s5*s6)/100) - dq3r*(dq1*((cos(q2 + q3)*c6*s4)/100 + sin(q2 + q3)*c5*c6 - (sin(q2 + q3)*s5*s6)/100 + (cos(q2 + q3)*c4*c5*s6)/100 - sin(q2 + q3)*c4*s4*s6 - sin(q2 + q3)*c4^2*c5*c6 + 2*cos(q2 + q3)*c5*s4*s5*s6 + 2*sin(q2 + q3)*c4*c5^2*s4*s6) + dq6*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) - dq2*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) - dq3*(s6 - c4^2*s6 - 2*c5^2*s6 + 2*c4^2*c5^2*s6 + c4*c5*c6*s4) + dq4*((c6*s4)/100 + (c4*c5*s6)/100 + c4*c6*s5 - 2*c5*s4*s5*s6) - (dq5*s4*s5*s6)/100) - (dq6*dq5r*s6)/100;
Y(5,21) =dq4r*((dq4*sin(2*q5))/2 + (dq5*s5)/100 + (dq6*s5)/2 + dq1*((sin(q2 + q3)*c4)/2 - sin(q2 + q3)*c4*c5^2 - cos(q2 + q3)*c5*s5 + (sin(q2 + q3)*s4*s5)/100) - dq2*((c4*s5)/100 - s4/2 + c5^2*s4) - dq3*((c4*s5)/100 - s4/2 + c5^2*s4)) - ddq6r/50 - dq1r*(dq2*((c2*c3*s4)/2 - (s2*s3*s4)/2 + (c2*c5*s3)/100 + (c3*c5*s2)/100 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + (c2*c3*c4*s5)/100 - (c4*s2*s3*s5)/100 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq3*((c2*c3*s4)/2 - (s2*s3*s4)/2 + (c2*c5*s3)/100 + (c3*c5*s2)/100 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + (c2*c3*c4*s5)/100 - (c4*s2*s3*s5)/100 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq6*((c2*c3*s5)/2 - (s2*s3*s5)/2 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2) + dq5*((c2*c3*s5)/100 - (s2*s3*s5)/100 + (c2*c4*c5*s3)/100 + (c3*c4*c5*s2)/100) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + (c2*s3*s4*s5)/100 + (c3*s2*s4*s5)/100 + c5*s2*s3*s5)) - dq2r*(dq1*((cos(q2 + q3)*s4)/2 + (sin(q2 + q3)*c5)/100 - cos(q2 + q3)*c5^2*s4 + (cos(q2 + q3)*c4*s5)/100 + sin(q2 + q3)*c4*c5*s4*s5) + dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq4*((c4*s5)/100 - s4/2 + c5^2*s4) + (dq5*c5*s4)/100 + (dq6*c5*s4)/2) - dq3r*(dq1*((cos(q2 + q3)*s4)/2 + (sin(q2 + q3)*c5)/100 - cos(q2 + q3)*c5^2*s4 + (cos(q2 + q3)*c4*s5)/100 + sin(q2 + q3)*c4*c5*s4*s5) + dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq4*((c4*s5)/100 - s4/2 + c5^2*s4) + (dq5*c5*s4)/100 + (dq6*c5*s4)/2) - dq6r*(dq1*((cos(q2 + q3)*s5)/2 + (sin(q2 + q3)*c4*c5)/2) - (dq4*s5)/2 + (dq2*c5*s4)/2 + (dq3*c5*s4)/2) - (ddq4r*c5)/50 + ddq1r*((cos(q2 + q3)*c5)/50 - (sin(q2 + q3)*c4*s5)/50) - (ddq2r*s4*s5)/50 - (ddq3r*s4*s5)/50;
Y(5,22) =0;
Y(5,23) =0;
Y(5,24) =0;
Y(5,25) =0;
Y(5,26) =0;
Y(5,27) =0;
Y(5,28) =0;
Y(5,29) =0;
Y(5,30) =0;
Y(5,31) =0;
Y(5,32) =0;
Y(5,33) =0;
Y(5,34) =0;
Y(5,35) =0;
Y(5,36) =0;
Y(5,37) =dq3r*(dq2*((64707*s5)/100000 + (13*c4*c5)/100) + dq3*((64707*s5)/100000 + (13*c4*c5)/100) - dq1*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100)) - ddq3r*((13*s5)/100 - (64707*c4*c5)/100000) - ddq2r*((13*s5)/100 - (64707*c4*c5)/100000 + (59*c3*s5)/100 + (59*c4*c5*s3)/100) - dq1r*(dq1*((59*c2^2*s3*s5)/200 + (59*sin(q2 + q3)*c2*s5)/200 + (3*c2*s3*s5)/20 + (3*c3*s2*s5)/20 - (59*c2^2*c3*c4*c5)/200 - (59*cos(q2 + q3)*c2*c4*c5)/200 + (13*cos(q2 + q3)*c2*s3*s5)/200 + (13*cos(q2 + q3)*c3*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*s5)/200 - (3*c2*c3*c4*c5)/20 - (64707*sin(q2 + q3)*c2*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*s2*s5)/100000 - (13*sin(q2 + q3)*s2*s3*s5)/200 + (59*c2*c3*s2*s5)/200 + (3*c4*c5*s2*s3)/20 - (13*cos(q2 + q3)*c2*c3*c4*c5)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3)/200000 + (59*c2*c4*c5*s2*s3)/200) + dq2*((59*c5*s2*s4)/100 + (64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000) + dq3*((64707*c2*c3*c5*s4)/100000 + (13*c2*c5*s3*s4)/100 + (13*c3*c5*s2*s4)/100 - (64707*c5*s2*s3*s4)/100000)) + s5*((981*c2*c3)/100 - (981*s2*s3)/100) + dq2r*(dq3*((64707*s5)/100000 + (13*c4*c5)/100) + dq2*((64707*s5)/100000 + (13*c4*c5)/100 - (59*s3*s5)/100 + (59*c3*c4*c5)/100) - dq1*((64707*cos(q2 + q3)*c5*s4)/100000 + (13*sin(q2 + q3)*c5*s4)/100 + (59*c5*s2*s4)/200 - (59*cos(q2 + q3)*c5*s3*s4)/200 + (59*sin(q2 + q3)*c3*c5*s4)/200)) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100) + (ddq1r*c5*s4*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/100000;
Y(5,38) =dq1r*(dq1*((cos(q2 + q3)*c2*c4*s3)/2 + (cos(q2 + q3)*c3*c4*s2)/2 + (sin(q2 + q3)*c2*c3*c4)/2 - (sin(q2 + q3)*c4*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*s5 + cos(q2 + q3)*c5*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*s3 - cos(q2 + q3)*c3*c4*c5^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2 + sin(q2 + q3)*c4*c5^2*s2*s3 + sin(q2 + q3)*c2*c4^2*c5*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*s2*s5) + dq2*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) + dq3*((c2*c3*s4)/2 - (s2*s3*s4)/2 - c2*c3*c5^2*s4 + c5^2*s2*s3*s4 + c2*c4*c5*s3*s4*s5 + c3*c4*c5*s2*s4*s5) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 - c2*c4*c5^2*s3 - c3*c4*c5^2*s2 - c2*c3*c5*s5 + c5*s2*s3*s5)) + dq2r*(dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c5^2*s4 + sin(q2 + q3)*c4*c5*s4*s5) - dq4*(s4/2 - c5^2*s4)) + dq3r*(dq2*(c5*s5 - c4^2*c5*s5) + dq3*(c5*s5 - c4^2*c5*s5) + dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c5^2*s4 + sin(q2 + q3)*c4*c5*s4*s5) - dq4*(s4/2 - c5^2*s4)) - dq4r*((dq4*sin(2*q5))/2 + dq2*(s4/2 - c5^2*s4) + dq3*(s4/2 - c5^2*s4) - dq1*(sin(q2 + q3)*c4*c5^2 - (sin(q2 + q3)*c4)/2 + cos(q2 + q3)*c5*s5));
Y(5,39) =ddq5r - dq2r*((dq4*s4)/2 + (dq1*cos(q2 + q3)*s4)/2) - dq3r*((dq4*s4)/2 + (dq1*cos(q2 + q3)*s4)/2) + dq1r*(dq2*((s2*s3*s4)/2 - (c2*c3*s4)/2) + dq3*((s2*s3*s4)/2 - (c2*c3*s4)/2) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2)) + ddq2r*c4 + ddq3r*c4 - dq4r*((dq2*s4)/2 + (dq3*s4)/2 + (dq1*sin(q2 + q3)*c4)/2) - ddq1r*sin(q2 + q3)*s4;
Y(5,40) =ddq5r*s6^2 + dq4r*(dq2*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6) - dq1*((sin(q2 + q3)*c4)/2 - sin(q2 + q3)*c4*c5^2*c6^2 - cos(q2 + q3)*c5*c6^2*s5 + sin(q2 + q3)*c5*c6*s4*s6) + dq3*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6) + dq6*(s5/2 - c6^2*s5) - dq4*c5*c6^2*s5) + ddq2r*(c4*s6^2 + c5*c6*s4*s6) + ddq3r*(c4*s6^2 + c5*c6*s4*s6) + dq2r*(dq6*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq2*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) + dq3*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c6^2*s4 + cos(q2 + q3)*c5^2*c6^2*s4 + sin(q2 + q3)*c6*s5*s6 - sin(q2 + q3)*c4^2*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6^2*s4*s5) + dq4*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6)) + dq3r*(dq6*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq2*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) + dq3*(c5*c6^2*s5 - c4^2*c5*c6^2*s5 + c4*c6*s4*s5*s6) - dq1*((cos(q2 + q3)*s4)/2 - cos(q2 + q3)*c6^2*s4 + cos(q2 + q3)*c5^2*c6^2*s4 + sin(q2 + q3)*c6*s5*s6 - sin(q2 + q3)*c4^2*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6^2*s4*s5) + dq4*(c5^2*c6^2*s4 - s4/2 + c4*c5*c6*s6)) + dq1r*(dq2*((s2*s3*s4)/2 - (c2*c3*s4)/2 + c2*c3*c6^2*s4 - c6^2*s2*s3*s4 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c6*s3*s5*s6 - c3*c6*s2*s5*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) + dq3*((s2*s3*s4)/2 - (c2*c3*s4)/2 + c2*c3*c6^2*s4 - c6^2*s2*s3*s4 - c2*c3*c5^2*c6^2*s4 + c5^2*c6^2*s2*s3*s4 - c2*c6*s3*s5*s6 - c3*c6*s2*s5*s6 + c2*c4^2*c6*s3*s5*s6 + c3*c4^2*c6*s2*s5*s6 + c2*c4*c5*c6^2*s3*s4*s5 + c3*c4*c5*c6^2*s2*s4*s5) - dq6*((cos(q2 + q3)*s5*s6^2)/2 - (cos(q2 + q3)*c6^2*s5)/2 + (sin(q2 + q3)*c4*c5*s6^2)/2 + sin(q2 + q3)*c6*s4*s6 - (sin(q2 + q3)*c4*c5*c6^2)/2) + dq1*((cos(q2 + q3)*c2*c4*c6^2*s3)/2 + (cos(q2 + q3)*c3*c4*c6^2*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6^2)/2 - (sin(q2 + q3)*c4*c6^2*s2*s3)/2 + sin(q2 + q3)*c4*c5^2*c6^2*s2*s3 - cos(q2 + q3)*c2*c3*c5*c6^2*s5 + cos(q2 + q3)*c5*c6^2*s2*s3*s5 - cos(q2 + q3)*c2*c4*c5^2*c6^2*s3 - cos(q2 + q3)*c3*c4*c5^2*c6^2*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6^2 + (cos(q2 + q3)*c2*c5*c6*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*c6*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*c6*s4*s6)/2 - (sin(q2 + q3)*c5*c6*s2*s3*s4*s6)/2 + sin(q2 + q3)*c2*c4^2*c5*c6^2*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6^2*s2*s5 - sin(q2 + q3)*c2*c4*c6*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*c6*s2*s4*s5*s6) - dq4*((c2*c4*s3)/2 + (c3*c4*s2)/2 + c5*c6^2*s2*s3*s5 - c2*c4*c5^2*c6^2*s3 - c3*c4*c5^2*c6^2*s2 - c2*c3*c5*c6^2*s5 + c2*c5*c6*s3*s4*s6 + c3*c5*c6*s2*s4*s6)) + dq6r*((dq5*sin(2*q6))/2 + dq2*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq3*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq1*((c6*(cos(q2 + q3)*c6*s5 - sin(q2 + q3)*s4*s6 + sin(q2 + q3)*c4*c5*c6))/2 - (s6*(sin(q2 + q3)*c6*s4 + cos(q2 + q3)*s5*s6 + sin(q2 + q3)*c4*c5*s6))/2) + dq4*(s5/2 - c6^2*s5)) + ddq1r*s6*(cos(q2 + q3)*c6*s5 - sin(q2 + q3)*s4*s6 + sin(q2 + q3)*c4*c5*c6) + (dq6*dq5r*sin(2*q6))/2 - ddq4r*c6*s5*s6;
Y(5,41) =0;
Y(5,42) =0;
Y(5,43) =0;
Y(5,44) =0;
Y(5,45) =0;
Y(5,46) =0;
Y(5,47) =0;
Y(5,48) =0;
Y(5,49) =0;
Y(5,50) =81*dq5r;
Y(5,51) =0;
Y(5,52) =0;
Y(6,1) =0;
Y(6,2) =0;
Y(6,3) =0;
Y(6,4) =0;
Y(6,5) =0;
Y(6,6) =0;
Y(6,7) =0;
Y(6,8) =0;
Y(6,9) =0;
Y(6,10) =0;
Y(6,11) =0;
Y(6,12) =0;
Y(6,13) =0;
Y(6,14) =0;
Y(6,15) =0;
Y(6,16) =s6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) + dq1r*(dq2*((59*c4*c6*s2)/100 + (64707*c2*c3*c4*c6)/100000 + (13*c2*c4*c6*s3)/100 + (13*c3*c4*c6*s2)/100 - (64707*c4*c6*s2*s3)/100000 - (59*c5*s2*s4*s6)/100 - (64707*c2*c3*c5*s4*s6)/100000 - (13*c2*c5*s3*s4*s6)/100 - (13*c3*c5*s2*s4*s6)/100 + (64707*c5*s2*s3*s4*s6)/100000) - dq1*((3*sin(q2 + q3)*s5*s6)/40 - (59*c2^2*c3*c6*s4)/200 + (59*c2^2*s3*s5*s6)/200 - (59*cos(q2 + q3)*c2*c6*s4)/200 - (3*cos(q2 + q3)*c4*c5*s6)/40 + (59*sin(q2 + q3)*c2*s5*s6)/200 - (3*c2*c3*c6*s4)/20 + (3*c6*s2*s3*s4)/20 + (3*c2*s3*s5*s6)/40 + (3*c3*s2*s5*s6)/40 - (13*cos(q2 + q3)*c2*c3*c6*s4)/100 - (59*cos(q2 + q3)*c2*c4*c5*s6)/200 + (64707*cos(q2 + q3)*c2*c6*s3*s4)/200000 + (64707*cos(q2 + q3)*c3*c6*s2*s4)/200000 + (64707*sin(q2 + q3)*c2*c3*c6*s4)/200000 + (13*cos(q2 + q3)*c6*s2*s3*s4)/100 + (13*cos(q2 + q3)*c2*s3*s5*s6)/200 + (13*cos(q2 + q3)*c3*s2*s5*s6)/200 + (13*sin(q2 + q3)*c2*c3*s5*s6)/200 - (3*c2*c3*c4*c5*s6)/40 - (64707*sin(q2 + q3)*c6*s2*s3*s4)/200000 - (64707*sin(q2 + q3)*c2*s3*s5*s6)/100000 - (64707*sin(q2 + q3)*c3*s2*s5*s6)/100000 - (13*sin(q2 + q3)*s2*s3*s5*s6)/200 + (59*c2*c6*s2*s3*s4)/200 + (59*c2*c3*s2*s5*s6)/200 + (3*c4*c5*s2*s3*s6)/40 - (59*c2^2*c3*c4*c5*s6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*s6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*s3*s6)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*s2*s6)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*s6)/200000 + (13*cos(q2 + q3)*c4*c5*s2*s3*s6)/100 - (64707*sin(q2 + q3)*c4*c5*s2*s3*s6)/200000 + (59*c2*c4*c5*s2*s3*s6)/200) + dq3*((64707*c2*c3*c4*c6)/100000 + (13*c2*c4*c6*s3)/100 + (13*c3*c4*c6*s2)/100 - (64707*c4*c6*s2*s3)/100000 - (64707*c2*c3*c5*s4*s6)/100000 - (13*c2*c5*s3*s4*s6)/100 - (13*c3*c5*s2*s4*s6)/100 + (64707*c5*s2*s3*s4*s6)/100000)) + ddq3r*((64707*c6*s4)/100000 - (13*s5*s6)/100 + (64707*c4*c5*s6)/100000) + dq2r*(dq2*((13*c6*s4)/100 + (64707*s5*s6)/100000 - (59*s3*s5*s6)/100 + (59*c3*c6*s4)/100 + (13*c4*c5*s6)/100 + (59*c3*c4*c5*s6)/100) + dq3*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq1*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 + (59*c4*c6*s2)/200 - (59*cos(q2 + q3)*c4*c6*s3)/200 + (59*sin(q2 + q3)*c3*c4*c6)/200 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100 - (59*c5*s2*s4*s6)/200 + (59*cos(q2 + q3)*c5*s3*s4*s6)/200 - (59*sin(q2 + q3)*c3*c5*s4*s6)/200)) + dq3r*(dq2*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq3*((13*c6*s4)/100 + (64707*s5*s6)/100000 + (13*c4*c5*s6)/100) + dq1*((64707*cos(q2 + q3)*c4*c6)/100000 + (13*sin(q2 + q3)*c4*c6)/100 - (64707*cos(q2 + q3)*c5*s4*s6)/100000 - (13*sin(q2 + q3)*c5*s4*s6)/100)) - dq5r*(dq3*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (64707*c4*c5*c6)/10000000) - dq1*(((c4*s6 + 50*s4*s5*s6 + c5*c6*s4)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (s4*s5*s6*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/200000) + dq2*((13*c6*s5)/10000 + (64707*s4*s6)/10000000 - (59*s3*s4*s6)/10000 - (64707*c4*c5*c6)/10000000 + (59*c3*c6*s5)/10000 + (59*c4*c5*c6*s3)/10000)) - ddq2r*(s6*((13*s5)/100 - (64707*c4*c5)/100000 + (59*c3*s5)/100 + (59*c4*c5*s3)/100) + (c6*s4*(59000*s3 - 64707))/100000) + c6*s4*((981*c2*s3)/100 + (981*c3*s2)/100) - (ddq1r*(c4*c6 - c5*s4*s6)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/100000;
Y(6,17) =dq2r*(dq3*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) - dq1*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (59*c4*s2*s6)/200 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 - (59*cos(q2 + q3)*c4*s3*s6)/200 + (59*sin(q2 + q3)*c3*c4*s6)/200 + (13*sin(q2 + q3)*c5*c6*s4)/100 + (59*c5*c6*s2*s4)/200 - (59*cos(q2 + q3)*c5*c6*s3*s4)/200 + (59*sin(q2 + q3)*c3*c5*c6*s4)/200) + dq2*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100 - (59*c3*s4*s6)/100 - (59*c6*s3*s5)/100 + (59*c3*c4*c5*c6)/100)) - ddq3r*((13*c6*s5)/100 + (64707*s4*s6)/100000 - (64707*c4*c5*c6)/100000) + dq3r*(dq2*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) + dq3*((64707*c6*s5)/100000 - (13*s4*s6)/100 + (13*c4*c5*c6)/100) - dq1*((64707*cos(q2 + q3)*c4*s6)/100000 + (13*sin(q2 + q3)*c4*s6)/100 + (64707*cos(q2 + q3)*c5*c6*s4)/100000 + (13*sin(q2 + q3)*c5*c6*s4)/100)) - dq1r*(dq1*((59*c2^2*c3*s4*s6)/200 + (59*c2^2*c6*s3*s5)/200 - (3*cos(q2 + q3)*c4*c5*c6)/40 + (59*cos(q2 + q3)*c2*s4*s6)/200 + (59*sin(q2 + q3)*c2*c6*s5)/200 + (3*c2*c3*s4*s6)/20 + (3*c2*c6*s3*s5)/20 + (3*c3*c6*s2*s5)/20 - (3*s2*s3*s4*s6)/20 - (59*cos(q2 + q3)*c2*c4*c5*c6)/200 + (13*cos(q2 + q3)*c2*c3*s4*s6)/100 + (13*cos(q2 + q3)*c2*c6*s3*s5)/200 + (13*cos(q2 + q3)*c3*c6*s2*s5)/200 + (13*sin(q2 + q3)*c2*c3*c6*s5)/200 - (3*c2*c3*c4*c5*c6)/40 - (64707*cos(q2 + q3)*c2*s3*s4*s6)/200000 - (64707*cos(q2 + q3)*c3*s2*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c3*s4*s6)/200000 - (64707*sin(q2 + q3)*c2*c6*s3*s5)/100000 - (64707*sin(q2 + q3)*c3*c6*s2*s5)/100000 - (13*cos(q2 + q3)*s2*s3*s4*s6)/100 - (13*sin(q2 + q3)*c6*s2*s3*s5)/200 + (59*c2*c3*c6*s2*s5)/200 + (3*c4*c5*c6*s2*s3)/40 + (64707*sin(q2 + q3)*s2*s3*s4*s6)/200000 - (59*c2*s2*s3*s4*s6)/200 - (59*c2^2*c3*c4*c5*c6)/200 - (13*cos(q2 + q3)*c2*c3*c4*c5*c6)/100 + (64707*cos(q2 + q3)*c2*c4*c5*c6*s3)/200000 + (64707*cos(q2 + q3)*c3*c4*c5*c6*s2)/200000 + (64707*sin(q2 + q3)*c2*c3*c4*c5*c6)/200000 + (13*cos(q2 + q3)*c4*c5*c6*s2*s3)/100 - (64707*sin(q2 + q3)*c4*c5*c6*s2*s3)/200000 + (59*c2*c4*c5*c6*s2*s3)/200) + dq2*((59*c4*s2*s6)/100 + (64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 + (59*c5*c6*s2*s4)/100 - (64707*c4*s2*s3*s6)/100000 + (64707*c2*c3*c5*c6*s4)/100000 + (13*c2*c5*c6*s3*s4)/100 + (13*c3*c5*c6*s2*s4)/100 - (64707*c5*c6*s2*s3*s4)/100000) + dq3*((64707*c2*c3*c4*s6)/100000 + (13*c2*c4*s3*s6)/100 + (13*c3*c4*s2*s6)/100 - (64707*c4*s2*s3*s6)/100000 + (64707*c2*c3*c5*c6*s4)/100000 + (13*c2*c5*c6*s3*s4)/100 + (13*c3*c5*c6*s2*s4)/100 - (64707*c5*c6*s2*s3*s4)/100000)) + dq5r*(dq2*((13*s5*s6)/10000 - (64707*c6*s4)/10000000 - (64707*c4*c5*s6)/10000000 + (59*c6*s3*s4)/10000 + (59*c3*s5*s6)/10000 + (59*c4*c5*s3*s6)/10000) + dq1*(((c4*c6 - c5*s4*s6 + 50*c6*s4*s5)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/10000000 - (c6*s4*s5*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/200000) - dq3*((64707*c6*s4)/10000000 - (13*s5*s6)/10000 + (64707*c4*c5*s6)/10000000)) - ddq2r*(c6*((13*s5)/100 - (64707*c4*c5)/100000 + (59*c3*s5)/100 + (59*c4*c5*s3)/100) - (s4*s6*(59000*s3 - 64707))/100000) + c6*(s5*((981*c2*c3)/100 - (981*s2*s3)/100) + c4*c5*((981*c2*s3)/100 + (981*c3*s2)/100)) - s4*s6*((981*c2*s3)/100 + (981*c3*s2)/100) + (ddq1r*(c4*s6 + c5*c6*s4)*(13000*cos(q2 + q3) - 64707*sin(q2 + q3) + 59000*c2 + 15000))/100000;
Y(6,18) =dq5r*(dq2*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq3*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) + dq1*(sin(q2 + q3)*c6^2*s4 - sin(q2 + q3)*s4*s6^2 + 2*cos(q2 + q3)*c6*s5*s6 + 2*sin(q2 + q3)*c4*c5*c6*s6) - dq5*cos(2*q6) - 2*dq4*c6*s5*s6) - dq1r*(dq1*(cos(q2 + q3)*c2*c3 - cos(q2 + q3)*s2*s3 - sin(q2 + q3)*c2*s3 - sin(q2 + q3)*c3*s2 + sin(q2 + q3)*c2*c4^2*s3 + sin(q2 + q3)*c3*c4^2*s2 + cos(q2 + q3)*c5^2*s2*s3 + 2*cos(q2 + q3)*c6^2*s2*s3 + 2*sin(q2 + q3)*c2*c6^2*s3 + 2*sin(q2 + q3)*c3*c6^2*s2 - cos(q2 + q3)*c2*c3*c5^2 - 2*cos(q2 + q3)*c2*c3*c6^2 + 2*cos(q2 + q3)*c2*c3*c5^2*c6^2 + sin(q2 + q3)*c2*c4^2*c5^2*s3 + sin(q2 + q3)*c3*c4^2*c5^2*s2 - 2*sin(q2 + q3)*c2*c4^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c6^2*s2 - 2*cos(q2 + q3)*c5^2*c6^2*s2*s3 + cos(q2 + q3)*c2*c4*c5*s3*s5 + cos(q2 + q3)*c3*c4*c5*s2*s5 + sin(q2 + q3)*c2*c3*c4*c5*s5 - 2*sin(q2 + q3)*c2*c4^2*c5^2*c6^2*s3 - 2*sin(q2 + q3)*c3*c4^2*c5^2*c6^2*s2 - sin(q2 + q3)*c4*c5*s2*s3*s5 + 2*cos(q2 + q3)*c2*c6*s3*s4*s5*s6 + 2*cos(q2 + q3)*c3*c6*s2*s4*s5*s6 + 2*sin(q2 + q3)*c2*c3*c6*s4*s5*s6 - 2*sin(q2 + q3)*c6*s2*s3*s4*s5*s6 - 2*cos(q2 + q3)*c2*c4*c5*c6^2*s3*s5 - 2*cos(q2 + q3)*c3*c4*c5*c6^2*s2*s5 - 2*sin(q2 + q3)*c2*c3*c4*c5*c6^2*s5 + 2*sin(q2 + q3)*c4*c5*c6^2*s2*s3*s5 + 4*sin(q2 + q3)*c2*c4*c5*c6*s3*s4*s6 + 4*sin(q2 + q3)*c3*c4*c5*c6*s2*s4*s6) + dq2*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) + dq3*(c2*c4*s3*s4 + c3*c4*s2*s4 + c2*c4*c5^2*s3*s4 + c3*c4*c5^2*s2*s4 - 2*c2*c4*c6^2*s3*s4 - 2*c3*c4*c6^2*s2*s4 + c2*c3*c5*s4*s5 + 2*c2*c5*c6*s3*s6 + 2*c3*c5*c6*s2*s6 - c5*s2*s3*s4*s5 - 2*c2*c4*c5^2*c6^2*s3*s4 - 2*c3*c4*c5^2*c6^2*s2*s4 - 2*c2*c3*c4*c6*s5*s6 + 2*c4*c6*s2*s3*s5*s6 - 2*c2*c3*c5*c6^2*s4*s5 - 4*c2*c4^2*c5*c6*s3*s6 - 4*c3*c4^2*c5*c6*s2*s6 + 2*c5*c6^2*s2*s3*s4*s5) - dq4*(c2*c3 - s2*s3 - c2*c3*c5^2 - 2*c2*c3*c6^2 + c5^2*s2*s3 + 2*c6^2*s2*s3 + 2*c2*c3*c5^2*c6^2 - 2*c5^2*c6^2*s2*s3 + c2*c4*c5*s3*s5 + c3*c4*c5*s2*s5 + 2*c2*c6*s3*s4*s5*s6 + 2*c3*c6*s2*s4*s5*s6 - 2*c2*c4*c5*c6^2*s3*s5 - 2*c3*c4*c5*c6^2*s2*s5) - dq5*(2*c2*c6^2*s3*s4 - c3*s2*s4 - c2*s3*s4 + 2*c3*c6^2*s2*s4 + 2*c2*c3*c6*s5*s6 - 2*c6*s2*s3*s5*s6 + 2*c2*c4*c5*c6*s3*s6 + 2*c3*c4*c5*c6*s2*s6)) + dq2r*(dq5*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) - dq4*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq1*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) + dq2*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6) + dq3*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) + dq3r*(dq5*(c4 - 2*c4*c6^2 + 2*c5*c6*s4*s6) - dq4*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq1*(2*sin(q2 + q3)*c4*c6^2*s4 - sin(q2 + q3)*c4*c5^2*s4 - sin(q2 + q3)*c4*s4 - cos(q2 + q3)*c5*s4*s5 - 2*sin(q2 + q3)*c5*c6*s6 + 2*sin(q2 + q3)*c4*c5^2*c6^2*s4 + 2*cos(q2 + q3)*c4*c6*s5*s6 + 2*cos(q2 + q3)*c5*c6^2*s4*s5 + 4*sin(q2 + q3)*c4^2*c5*c6*s6) + dq2*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6) + dq3*(c4^2 - c5^2 + c4^2*c5^2 - 2*c4^2*c6^2 + 2*c5^2*c6^2 - 2*c4^2*c5^2*c6^2 + 4*c4*c5*c6*s4*s6)) - dq4r*(dq2*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) + dq3*(2*c5*c6^2*s4*s5 - c5*s4*s5 + 2*c4*c6*s5*s6) - dq4*(cos(2*q6) + c5^2 - 2*c5^2*c6^2) - dq1*(cos(q2 + q3) - cos(q2 + q3)*c5^2 - 2*cos(q2 + q3)*c6^2 + 2*cos(q2 + q3)*c5^2*c6^2 + sin(q2 + q3)*c4*c5*s5 + 2*sin(q2 + q3)*c6*s4*s5*s6 - 2*sin(q2 + q3)*c4*c5*c6^2*s5) + 2*dq5*c6*s5*s6);
Y(6,19) =dq5r*(dq2*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) + dq3*((c5*s4*s6)/100 - (c4*c6)/100 + c6*s4*s5) + dq4*(c5*c6 - (s5*s6)/100) - (dq5*c6)/100 + dq1*((s6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 - (c6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 - (cos(q2 + q3)*c5*c6)/2 + (sin(q2 + q3)*c6*s4)/100 + (sin(q2 + q3)*c4*c6*s5)/2)) - ddq2r*(c4*s6 + c5*c6*s4) - ddq3r*(c4*s6 + c5*c6*s4) - ddq1r*(cos(q2 + q3)*c6*s5 - sin(q2 + q3)*s4*s6 + sin(q2 + q3)*c4*c5*c6) + dq2r*(dq1*(cos(q2 + q3)*c5^2*s4*s6 + sin(q2 + q3)*c4^2*c6*s5 - cos(q2 + q3)*c4*c5*c6 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq3*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(s4*s6 - c5^2*s4*s6) + dq5*c6*s4*s5) + dq3r*(dq1*(cos(q2 + q3)*c5^2*s4*s6 + sin(q2 + q3)*c4^2*c6*s5 - cos(q2 + q3)*c4*c5*c6 - sin(q2 + q3)*c4*c5*s4*s5*s6) + dq2*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq3*(c4^2*c5*s5*s6 - c5*s5*s6 + c4*c6*s4*s5) + dq4*(s4*s6 - c5^2*s4*s6) + dq5*c6*s4*s5) - ddq5r*s6 + dq1r*(dq4*(c2*c4*s3*s6 + c3*c4*s2*s6 - c2*c4*c5^2*s3*s6 - c3*c4*c5^2*s2*s6 - c2*c3*c5*s5*s6 + c5*s2*s3*s5*s6) + dq2*(c2*c3*c5^2*s4*s6 + c2*c4^2*c6*s3*s5 + c3*c4^2*c6*s2*s5 - c5^2*s2*s3*s4*s6 - c2*c3*c4*c5*c6 + c4*c5*c6*s2*s3 - c2*c4*c5*s3*s4*s5*s6 - c3*c4*c5*s2*s4*s5*s6) + dq3*(c2*c3*c5^2*s4*s6 + c2*c4^2*c6*s3*s5 + c3*c4^2*c6*s2*s5 - c5^2*s2*s3*s4*s6 - c2*c3*c4*c5*c6 + c4*c5*c6*s2*s3 - c2*c4*c5*s3*s4*s5*s6 - c3*c4*c5*s2*s4*s5*s6) - dq1*((cos(q2 + q3)*c2*c4*s3*s6)/2 + (cos(q2 + q3)*c3*c4*s2*s6)/2 + (sin(q2 + q3)*c2*c3*c4*s6)/2 - (sin(q2 + q3)*c4*s2*s3*s6)/2 - (cos(q2 + q3)*c2*c5*c6*s3*s4)/2 - (cos(q2 + q3)*c3*c5*c6*s2*s4)/2 - (sin(q2 + q3)*c2*c3*c5*c6*s4)/2 - cos(q2 + q3)*c2*c3*c5*s5*s6 + (sin(q2 + q3)*c5*c6*s2*s3*s4)/2 + cos(q2 + q3)*c5*s2*s3*s5*s6 - cos(q2 + q3)*c2*c4*c5^2*s3*s6 - cos(q2 + q3)*c3*c4*c5^2*s2*s6 - sin(q2 + q3)*c2*c3*c4*c5^2*s6 + sin(q2 + q3)*c4*c5^2*s2*s3*s6 + sin(q2 + q3)*c2*c4*c6*s3*s4*s5 + sin(q2 + q3)*c3*c4*c6*s2*s4*s5 + sin(q2 + q3)*c2*c4^2*c5*s3*s5*s6 + sin(q2 + q3)*c3*c4^2*c5*s2*s5*s6) + dq5*(c5*c6*s2*s3 - c2*c3*c5*c6 + c2*c4*c6*s3*s5 + c3*c4*c6*s2*s5)) + dq4r*(dq2*(s4*s6 - c5^2*s4*s6) - dq1*(sin(q2 + q3)*c4*c5^2*s6 - sin(q2 + q3)*c4*s6 + cos(q2 + q3)*c5*s5*s6) + dq3*(s4*s6 - c5^2*s4*s6) + dq5*c5*c6 + dq4*c5*s5*s6) + ddq4r*c6*s5;
Y(6,20) =ddq1r*(sin(q2 + q3)*c6*s4 + cos(q2 + q3)*s5*s6 + sin(q2 + q3)*c4*c5*s6) - ddq3r*(c4*c6 - c5*s4*s6) - dq1r*(dq5*(c5*s2*s3*s6 - c2*c3*c5*s6 + c2*c4*s3*s5*s6 + c3*c4*s2*s5*s6) + dq1*((cos(q2 + q3)*c2*c4*c6*s3)/2 + (cos(q2 + q3)*c3*c4*c6*s2)/2 + (sin(q2 + q3)*c2*c3*c4*c6)/2 - (sin(q2 + q3)*c4*c6*s2*s3)/2 - cos(q2 + q3)*c2*c3*c5*c6*s5 + (cos(q2 + q3)*c2*c5*s3*s4*s6)/2 + (cos(q2 + q3)*c3*c5*s2*s4*s6)/2 + (sin(q2 + q3)*c2*c3*c5*s4*s6)/2 + cos(q2 + q3)*c5*c6*s2*s3*s5 - (sin(q2 + q3)*c5*s2*s3*s4*s6)/2 - cos(q2 + q3)*c2*c4*c5^2*c6*s3 - cos(q2 + q3)*c3*c4*c5^2*c6*s2 - sin(q2 + q3)*c2*c3*c4*c5^2*c6 + sin(q2 + q3)*c4*c5^2*c6*s2*s3 - sin(q2 + q3)*c2*c4*s3*s4*s5*s6 - sin(q2 + q3)*c3*c4*s2*s4*s5*s6 + sin(q2 + q3)*c2*c4^2*c5*c6*s3*s5 + sin(q2 + q3)*c3*c4^2*c5*c6*s2*s5) + dq2*(c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c4*c5*s6 + c4*c5*s2*s3*s6 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) + dq3*(c2*c4^2*s3*s5*s6 + c3*c4^2*s2*s5*s6 + c5^2*c6*s2*s3*s4 - c2*c3*c4*c5*s6 + c4*c5*s2*s3*s6 - c2*c3*c5^2*c6*s4 + c2*c4*c5*c6*s3*s4*s5 + c3*c4*c5*c6*s2*s4*s5) - dq4*(c2*c4*c6*s3 + c3*c4*c6*s2 - c2*c3*c5*c6*s5 + c5*c6*s2*s3*s5 - c2*c4*c5^2*c6*s3 - c3*c4*c5^2*c6*s2)) - dq2r*(dq1*(sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - cos(q2 + q3)*c5^2*c6*s4 + sin(q2 + q3)*c4*c5*c6*s4*s5) + dq2*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq3*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) - dq4*(c6*s4 - c5^2*c6*s4) + dq5*s4*s5*s6) - dq3r*(dq1*(sin(q2 + q3)*c4^2*s5*s6 - cos(q2 + q3)*c4*c5*s6 - cos(q2 + q3)*c5^2*c6*s4 + sin(q2 + q3)*c4*c5*c6*s4*s5) + dq2*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) + dq3*(c5*c6*s5 - c4^2*c5*c6*s5 + c4*s4*s5*s6) - dq4*(c6*s4 - c5^2*c6*s4) + dq5*s4*s5*s6) - ddq2r*(c4*c6 - c5*s4*s6) + dq4r*(dq2*(c6*s4 - c5^2*c6*s4) - dq1*(cos(q2 + q3)*c5*c6*s5 - sin(q2 + q3)*c4*c6 + sin(q2 + q3)*c4*c5^2*c6) + dq3*(c6*s4 - c5^2*c6*s4) - dq5*c5*s6 + dq4*c5*c6*s5) + dq5r*(dq2*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) + dq3*((c4*s6)/100 - s4*s5*s6 + (c5*c6*s4)/100) - dq4*(c5*s6 + (c6*s5)/100) + (dq5*s6)/100 + dq1*((c6*(cos(q2 + q3)*s5 + sin(q2 + q3)*c4*c5))/100 + (s6*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5))/2 + (cos(q2 + q3)*c5*s6)/2 - (sin(q2 + q3)*s4*s6)/100 - (sin(q2 + q3)*c4*s5*s6)/2)) - ddq5r*c6 - ddq4r*s5*s6;
Y(6,21) =ddq6r - dq4r*((dq5*s5)/2 - (dq2*c4*s5)/2 - (dq3*c4*s5)/2 + (dq1*sin(q2 + q3)*s4*s5)/2) + dq5r*(dq1*((cos(q2 + q3)*s5)/2 + (sin(q2 + q3)*c4*c5)/2) - (dq4*s5)/2 + (dq2*c5*s4)/2 + (dq3*c5*s4)/2) + ddq4r*c5 - ddq1r*(cos(q2 + q3)*c5 - sin(q2 + q3)*c4*s5) + dq1r*(dq2*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2) + dq3*((c2*c5*s3)/2 + (c3*c5*s2)/2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2) + dq5*((c2*c3*s5)/2 - (s2*s3*s5)/2 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2) - dq4*((c2*s3*s4*s5)/2 + (c3*s2*s4*s5)/2)) + dq2r*(dq1*((sin(q2 + q3)*c5)/2 + (cos(q2 + q3)*c4*s5)/2) + (dq4*c4*s5)/2 + (dq5*c5*s4)/2) + dq3r*(dq1*((sin(q2 + q3)*c5)/2 + (cos(q2 + q3)*c4*s5)/2) + (dq4*c4*s5)/2 + (dq5*c5*s4)/2) + ddq2r*s4*s5 + ddq3r*s4*s5;
Y(6,22) =ddq5r/50 + ddq6r;
Y(6,23) =0;
Y(6,24) =0;
Y(6,25) =0;
Y(6,26) =0;
Y(6,27) =0;
Y(6,28) =0;
Y(6,29) =0;
Y(6,30) =0;
Y(6,31) =0;
Y(6,32) =0;
Y(6,33) =0;
Y(6,34) =0;
Y(6,35) =0;
Y(6,36) =0;
Y(6,37) =0;
Y(6,38) =0;
Y(6,39) =0;
Y(6,40) =dq1r*(dq2*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) + dq3*(c2*c4^2*c5*s3 - (c3*c5*s2)/2 - (c2*c5*s3)/2 + c3*c4^2*c5*s2 + c2*c5*c6^2*s3 + c3*c5*c6^2*s2 + (c2*c3*c4*s5)/2 - (c4*s2*s3*s5)/2 + c4*c6^2*s2*s3*s5 - 2*c2*c4^2*c5*c6^2*s3 - 2*c3*c4^2*c5*c6^2*s2 - c2*c3*c4*c6^2*s5 + c2*c4*c6*s3*s4*s6 + c3*c4*c6*s2*s4*s6 + c2*c3*c5*c6*s4*s5*s6 - c5*c6*s2*s3*s4*s5*s6 + c2*c4*c5^2*c6*s3*s4*s6 + c3*c4*c5^2*c6*s2*s4*s6) + dq5*((c2*c3*s5)/2 - (s2*s3*s5)/2 - c2*c3*c6^2*s5 + c6^2*s2*s3*s5 + (c2*c4*c5*s3)/2 + (c3*c4*c5*s2)/2 + c2*c6*s3*s4*s6 + c3*c6*s2*s4*s6 - c2*c4*c5*c6^2*s3 - c3*c4*c5*c6^2*s2) - dq4*(c2*c3*c6*s6 - (c2*s3*s4*s5)/2 - (c3*s2*s4*s5)/2 - c6*s2*s3*s6 + c2*c6^2*s3*s4*s5 + c3*c6^2*s2*s4*s5 + c5^2*c6*s2*s3*s6 - c2*c3*c5^2*c6*s6 + c2*c4*c5*c6*s3*s5*s6 + c3*c4*c5*c6*s2*s5*s6) + dq1*(cos(q2 + q3)*c2*c3*c6*s6 - (cos(q2 + q3)*c2*s3*s4*s5)/2 - (cos(q2 + q3)*c3*s2*s4*s5)/2 - (sin(q2 + q3)*c2*c3*s4*s5)/2 - cos(q2 + q3)*c6*s2*s3*s6 - sin(q2 + q3)*c2*c6*s3*s6 - sin(q2 + q3)*c3*c6*s2*s6 + (sin(q2 + q3)*s2*s3*s4*s5)/2 - sin(q2 + q3)*c2*c4*c5*s3*s4 - sin(q2 + q3)*c3*c4*c5*s2*s4 - cos(q2 + q3)*c2*c3*c5^2*c6*s6 + cos(q2 + q3)*c2*c6^2*s3*s4*s5 + cos(q2 + q3)*c3*c6^2*s2*s4*s5 + sin(q2 + q3)*c2*c3*c6^2*s4*s5 + sin(q2 + q3)*c2*c4^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c6*s2*s6 + cos(q2 + q3)*c5^2*c6*s2*s3*s6 - sin(q2 + q3)*c6^2*s2*s3*s4*s5 + 2*sin(q2 + q3)*c2*c4*c5*c6^2*s3*s4 + 2*sin(q2 + q3)*c3*c4*c5*c6^2*s2*s4 + sin(q2 + q3)*c2*c4^2*c5^2*c6*s3*s6 + sin(q2 + q3)*c3*c4^2*c5^2*c6*s2*s6 + cos(q2 + q3)*c2*c4*c5*c6*s3*s5*s6 + cos(q2 + q3)*c3*c4*c5*c6*s2*s5*s6 + sin(q2 + q3)*c2*c3*c4*c5*c6*s5*s6 - sin(q2 + q3)*c4*c5*c6*s2*s3*s5*s6)) - dq2r*(dq4*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq3*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq5*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) - dq1*(sin(q2 + q3)*c4^2*c5 - (sin(q2 + q3)*c5)/2 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6)) - dq3r*(dq4*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq2*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq3*(c4^2*c6*s6 - c5^2*c6*s6 - c4*c5*s4 + 2*c4*c5*c6^2*s4 + c4^2*c5^2*c6*s6) + dq5*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) - dq1*(sin(q2 + q3)*c4^2*c5 - (sin(q2 + q3)*c5)/2 + sin(q2 + q3)*c5*c6^2 + (cos(q2 + q3)*c4*s5)/2 - 2*sin(q2 + q3)*c4^2*c5*c6^2 - cos(q2 + q3)*c4*c6^2*s5 + sin(q2 + q3)*c4*c6*s4*s6 + cos(q2 + q3)*c5*c6*s4*s5*s6 + sin(q2 + q3)*c4*c5^2*c6*s4*s6)) - dq4r*(dq1*(cos(q2 + q3)*c6*s6 - (sin(q2 + q3)*s4*s5)/2 + sin(q2 + q3)*c6^2*s4*s5 - cos(q2 + q3)*c5^2*c6*s6 + sin(q2 + q3)*c4*c5*c6*s5*s6) + dq2*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) + dq3*((c4*s5)/2 - c4*c6^2*s5 + c5*c6*s4*s5*s6) - dq4*(c6*s6 - c5^2*c6*s6) + dq5*(s5/2 - c6^2*s5)) - dq5r*((dq5*sin(2*q6))/2 + dq2*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq3*(c5*c6^2*s4 - (c5*s4)/2 + c4*c6*s6) + dq1*((c6*(cos(q2 + q3)*c6*s5 - sin(q2 + q3)*s4*s6 + sin(q2 + q3)*c4*c5*c6))/2 - (s6*(sin(q2 + q3)*c6*s4 + cos(q2 + q3)*s5*s6 + sin(q2 + q3)*c4*c5*s6))/2) + dq4*(s5/2 - c6^2*s5));
Y(6,41) =0;
Y(6,42) =0;
Y(6,43) =0;
Y(6,44) =0;
Y(6,45) =0;
Y(6,46) =0;
Y(6,47) =0;
Y(6,48) =0;
Y(6,49) =0;
Y(6,50) =0;
Y(6,51) =0;
Y(6,52) =(pi*((180*dq5r)/pi + (9000*dq6r)/pi))/180;
if(length(dq)>6)
Y(7,53) = ddq7r; %inertizia link prism 7
Y(7,54) = dq7r;   %inertizia link prism 7
Y(8,55) = ddq8r; %inertizia link prism 8
Y(8,56) = dq8r;   %inertizia link prism 8
end